Systems and methods for an origami-inspired foldable quad-rotor

Patent metadata

Field	Value
Publication number	US-11518489-B2
Application number	US-202016830993-A
Country	US
Kind code	B2
Filing date	Mar 26, 2020
Priority date	Mar 26, 2019
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

Various embodiments for a foldable quad-rotor (FQR) inspired by an origami mechanism are disclosed herein. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method.

First claim

What is claimed is:

1. A device, comprising:
a central body housing a controller and a servo motor in operative communication with the controller, the servo motor operatively engaged with a servo horn, the servo horn being rotatable by the servo motor;
a plurality of foldable arms in operative engagement with the central body, each of the plurality of foldable arms defining a proximal portion and a distal portion, the proximal portion operatively engaged with the center body such that each of the plurality of foldable arms extends laterally from the center body;
a propeller in operative association with a rotor and located at the distal portion of each of the plurality of foldable arms, wherein the rotor is in operative communication with the controller; and
a plurality of threads operatively associated with the servo motor, each of the plurality of threads configured to be tensioned or de-tensioned upon rotation of the servo motor and having a proximal end engaged with the servo horn and a distal end engaged with the distal portion of each of the plurality of foldable arms such that the distal portions of each of the plurality of foldable arms are drawn towards the central body when each of the plurality of threads are tensioned.

2. The device of claim 1 , further comprising a lower body configured for engagement with the center body, the lower body including a plurality of feet.

3. The device of claim 2 , wherein the lower body further comprises a plurality of foldable tabs configured for engagement with the central body.

4. The device of claim 1 , wherein the controller is in operative communication with one or more processors.

5. The device of claim 4 , wherein the one or more processors comprise instructions which, when executed, cause the controller to determine a trajectory.

6. The device of claim 5 , wherein the one or more processors comprise instructions, which, when executed, cause the controller to actuate the servo motor based on the trajectory.

7. The device of claim 5 , wherein the one or more processors comprises instructions, which, when executed, cause the controller to actuate the rotors based on the trajectory.

8. The device of claim 4 , further comprising:
one or more sensors, the sensors being operable to determine a position of the device, an orientation of the device, and/or a presence of any obstacles.

9. The device of claim 8 , wherein the one or more processors comprise instructions which, when executed, cause the controller to adjust a trajectory of the device based on the determined position and/or orientation of the device and/or the determined presence of obstacles by the one or more sensors.

10. The device of claim 1 , wherein each foldable arm of the plurality of foldable arms further includes a first section and a second section divided by a bendable portion, wherein the second section folds into the first section when the distal portions of each of the plurality of foldable arms are drawn towards the central body.

11. The device of claim 1 , wherein the central body comprises a central wall, wherein the central wall is comprised of a plurality of wall segments.

12. The device of claim 11 , wherein the central wall further comprises a plurality of thread apertures, wherein one of the plurality of threads is disposed through one of the plurality of thread apertures.

13. The device of claim 11 , wherein the servo horn comprises a plurality of holes, and where one of the plurality of threads is engaged with the servo horn through one of the plurality of holes.

14. The device of claim 1 , wherein each of the plurality of foldable arms comprises:
a support member engaged with the center body; and
a plurality of foldable strips sheathing the support member, each of the plurality of foldable strips including a bendable portion.

15. The device of claim 14 , wherein each bendable portion of each foldable strip of each of the plurality of foldable arms is tensioned such that each distal portion of the plurality of foldable arms are drawn away from the central body when each of the plurality of threads are de-tensioned.

16. A mechanism, comprising:
a center body, the center body comprising:
a servo motor in operative association with a servo horn, the servo motor being operable to rotate the servo horn at an angle relative to a central position of the servo horn; and
a thread defining a proximal end and a distal end, the proximal end of the thread being engaged with the servo horn;

a foldable arm, the foldable arm defining a distal end, the foldable arm comprising:
a support member engaged with the center body; and
a plurality of foldable strips sheathing the support member, each of the plurality of foldable strips including a bendable portion;
wherein the distal end of the foldable arm is engaged with the distal end of the thread;
wherein when the angle of the servo horn is increased relative to the central position of the servo horn, the thread is tensioned such that the distal end of the thread is drawn towards the center body such that the distal end of the foldable arm is drawn towards the center body; and
wherein when the angle of the servo horn is decreased relative to the central position of the servo horn, the thread is de-tensioned such that the distal end of the thread is drawn away from the center body such that the distal end of the foldable arm is drawn away from the center body.

17. The mechanism of claim 16 , wherein each bendable portion of the plurality of foldable strips is tensioned such that a resting position of the plurality of foldable strips is a straightened position.

18. The mechanism of claim 17 , wherein when the thread is de-tensioned, the plurality of foldable strips becomes straightened out and draws the distal end of the foldable arm away from the center body.

19. The mechanism of claim 16 , wherein each bendable portion is caused to bend when the thread is tensioned such that each of the foldable strips folds when the thread is tensioned such that the distal end of each of the plurality of arms is drawn towards the center body.

20. The mechanism of claim 16 , further comprising a central wall, the central wall housing the servo motor and the servo horn and comprising a thread aperture, the thread being disposed through the thread aperture such that a section of the thread defined from the thread aperture to the distal end of the thread becomes straightened.

Assignees

• Zhang Wenlong
• Yang Dangli
• Mishra Shatadal
• Aukes Daniel
• Univ Arizona State

Inventors

• Zhang Wenlong
• Yang Dangli
• Mishra Shatadal
• Aukes Daniel

Classifications

• B64C1/063 Primary

  Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64C1/30

  Parts of fuselage relatively movable to reduce overall dimensions of aircraft · CPC title

• B64C2201/108

  Operations & Transport · mapped topic

• B64U50/19 Primary

  using electrically powered motors · CPC title