A Presentation on

DESIGN AND DEVELOPMENT OF

TILT ROTOR UNMANNED AERIAL
VEHICLE

Under the guidance of

Er. Prakash Poudel

Submitted By: Submitted To:

Anuj Paudel(BME/070/303) Department of Mechanical Engineering,
Rahul Kanu Baniya(BME/070/332) IOE-Pashchimanchal Campus,
Rupa Pandey(BME/070/335) Pokhara
Sanjog Poudel(BME/070/338)
1
CONTENTS
1. Introduction
2. Objectives
3. Literature Review
4. Theoretical Consideration
5. Materials And Methods
6. Results And Discussion
7. Conclusion
8. Recommendations
9. References
2
1. Introduction

Two rotor flying craft

Tilt rotor mechanism for modes of flight
Consists of on-board flight controller
Remotely controlled vehicle
Mounted with sensors to calculate head of
proposed sites
Remote aerial survey
3
2. Objectives
To examine various ways for flying the vehicle

To use the various sensors for finding physical parameters

To apply the closed loop control system on flight control system

To obtain aerial view of any location

To find the correct geological positions i.e. longitude and latitude of a

place

To obtain the atmospheric pressure and temperature at specified height

4
 3. Literature Review

1. Sanchez et. al (in 2008) at Seoul in Korea

presented a mini tilt-rotor unmanned aerial vehicle
capable to perform hover flight
abolition of use of swahplate
mathematical model derived via the Newton-Euler formalism
2. Aris Sunantyo et. al (in 2014) at Banjarnegara District
determined the available head in Merawu River
generated digital elevation model of proposed site
available head determined by terrestrial or aerial
photogrammetric method

5
 . Contd
3. Elijah LIN Enya et. al (in 2015) at Singapore Institute of
Technology
tilt rotor capability enabled a much higher cruise speed
support waypoint navigation
high payload capacity
4. Ir. Chin Chai Goh et. al (in 2016) at Sarawak Energy
Berhad, Malasiya
aerial survey with the help of fixed wing UAV
Survey on challenging topographical structure which were not
accessible via any vehicle
Collected information used for determination of various
parameters 6
4. Theoretical Consideration
Principle Involved
Bernoullis principle
Rotation of propeller reduces top side air pressure ,
produce lift
Newtons third law of motions
Downward deflection produces an upward (lifting)
reaction
Thrust vectoring
Manipulate the direction of the thrust motor to control the
attitude or angular velocity of vehicle
7
4. Theoretical Consideration contd..
Design consideration
Assumptions:
rigid and symmetrical structure
No alteration of CG in any direction
fixed pitch, rigid, and the same size propellers
Static modelling:
Two motors rotate in opposite direction
Counter balance moments on CG
Roll (), Pitch(), and yaw() defined by Euler
angles
Angles 1 and 2 represent the tilting angles of the
rotors 1 and 2respectively, around the y axis
8
4. Theoretical Consideration contd..

Fig.4.1: Free body diagram of UAV

9
4. Theoretical Consideration contd..

10
4. Theoretical Consideration contd..

11
5. Materials And Methods
A. Components
Mechanical Electronics components
components are: are:
a. Electronic Speed
a. Propeller Controller (ESC)
b. Aluminum sheets b. Raspberry PI
c. Brushless Motors c. Lithium
Battery
Polymer
(1000kVA) d. Accelerometer
d. Servomotor e. Gyroscope
f. GPS module
g. Barometer
12
 5. Materials And Methods contd
B. Selected Component Specifications
a. Frame
Aluminum hollow square cross-section drilled bars , thin sheet of
aluminum of 2 mm thickness, frame weighs about 500 g
b. Propeller
APC, 10x4.5 propellers
c. Motors
Brushless DC motor, 1000 rpm/Volt capacity, Weighing each 62 g,
maximum current of 16A, maximum thrust up to 1kg per motor
d. Electronic Speed Control
30A ESC to run the motor, Weighing about 25 g
e. Transmitter and receiver
FLY SKY CT6B type, 6 channels , receives the signal from transmitter at
a frequency of 2.4 GHz
f. Battery:
Li-Po , 3 Cell, 12 volt 13
 5. Materials And Methods contd
C. Design Calculation
Calculation of thrust , payload and drag
Table 5.1Thrust Calculation Table
Propeller diameter 10 inch

Pitch 4.5 inch

Propeller type APC propeller
Number of blades 2

RPM 7500
Air temperature 77F
Air density 1.1843 kg/m3
Static thrust 0.68 kg 14
5. Materials And Methods contd
Payload at full throttle:

Per Motor Thrust (A) = 0.68 kg

No. of Motors (B) =2
Wt. of craft itself (C) = 1.2 kg
Hover Throttle % (D) = 100%

So, Payload Capacity = (A * B *D) - C

= (0.68*2*1) - 1.2
= 0.16 kg
Drag
Less thickness of front face of air frame; Negligible
drag
15
 5. Materials And Methods contd
D. Material Selection
Studied and compared Aluminum, balsa wood, birch
wood class, PVC (hard), nylon, carbon fiber, and
basswood on the basis of Bending stress , Factor of safety
,Deflection and Weight

Aluminum material selected

Propeties of aluminum
Density = 1591.44 Kg/ m3
Youngs modulus = 70.0 GPa
Tensile strength = 0.150 GPa
Deflection = 0.33 cm 16
 5. Materials And Methods contd
D. Material Selection contd..

Fig.5.1: Length v/s Deflection curve 17

 5. Materials And Methods contd
E. Frame Construction
Fuselage: Made of aluminum sheet of thickness 2 mm,
process involved is sheet cutting, bending and
drilling

18
Fig.5.2: Fuselage design in catia V5 R20
 5. Materials And Methods contd
F. Arm with tilt Mechanism
Made of aluminum square pipe 1 x 1.5 dimension
Process involved : sheet cutting, bending, drilling

19
Fig.5.3: Tilt mechanism structure design in catia V5 R20
 5. Materials And Methods contd
G. Final Assembly of Mechanical Components
Parts assembled together using fasteners like nuts and bolt

Fig.5.4: Assembled of all mechanical components

20
5. Materials And Methods contd
H. Electronics parts assembly

21
Fig.5.5: Block diagram of system overview of the UAV
5. Materials And Methods contd
I. Software and Control Design

Fig.5.6: Basic steps and processes needed in the main code 22

6. Results
A. Design Result
Comparative study between airfoil cross-
section arm and arm with hollow square
aluminum pipe
Reactive thrust on airfoil cross-section found to
be less
Thrust on propeller distributed to two point
bore more stress
23
6. Results contd
B. Operation Result
Thrust at full throttle found to be 1.26 kg force
Payload of UAV obtained was 60 gm
Calculated parameter of site; sent via RF signal to
mobile application
Communication range between transmitter and
receiver found to be 150 meter at perfect line of sight.
Sensitivity of Flight controller found to be
satisfactory
24
6. Results contd

Servo Shaft

Fig.6.1: Deformation on servo shaft with no load distribution 25

6. Results contd

Servo Shaft

Fig.6.2: Deformation on servo shaft with load distribution 26

7. Conclusion
The total weight was found to be 1.2 kg
Aluminum frame led to lower weight
65 % throttle overcomed total weight
Thrust of each motor is 0.68 kg
The communication range of the transmitter and
receiver of the UAV found to be around 150m in
line of sight
Live aerial video feed observed
27
8. Recommendations
To improve the stability of UAV, translation
dynamic modeling can be considered
The tilting mechanism can be provided with sliding
along the arm than can boost the maneuver
characteristics of the UAV.
The arm of UAV can be replaced with airfoil that
can reduce the drag force acting on the UAV during
its cruise motion ultimately improving its
performance
The aluminum used in frame can be substituted by
Carbon fiber as it has less deformation subjected to
same thrust as compared to aluminum
28
8. Recommendations contd
Variable pitch adjusting propeller can be
employed so as to increase thrust at low RPM
of the motor
High ampere-hour battery can be used to
increase the total flight time of the UAV
Overall aerodynamic characteristics of the UAV
can be obtained if 3D printing technology is
used considering all related parameters to
develop its parts

29
9. Refrences
Sanchez, A., Escareo, J., Garcia, O. & Lozano R.
Autonomous Hovering of a Noncyclic Tiltrotor UAV:
Modeling, Control and Implementation The International
Federation of Automatic Control Seoul, Korea, July 6-11,
2008
Mahapatra , D. Control System Design of Tilt Rotor
Unmanned Aerial Vehicle NIT Rourkela, Odisha, May
2011
[Amiri N., Control Of an Un conventional VTOL UAV
For Complex ManeuversUniversity of Cagary,
Alberta,January 2013
Sunantyo, A., Siswosukarto, S., Yulistiyanto, B., Prajitno
(2014), Digital Elevation Model Generated by Unmanned
Aerial Vehicle to determine Available Head Assessment,
Indonesia, ASTECHNOVA(3) 30
9. Refrences contd
Enya, Elijah LIN, Nicholas MOK Tech Kian, Tyrus
Yoong, and Sutthiphong SRIGRAROM. "Development of
UGS Tilt-rotor Surveillance Tricopter UAV" Journal of
Applied Science and Engineering, Vol. 18, No. 2, pp. 177-
186 (2015)
Goh Chai, C., Chai Thai, K., & Rantai Anak, R.(2016).
UAV approach in mini hydroelectric power site survey in
Malaysia. CEPSI(1)
Majnoon M. , Dynamic Modeling And Vision-Based
Mobile-Target Tracking In Uavs Using Wide Fov
Cameras University of Regina , Regina, Saskatchewan
February, 2016

31
Fig :Final View of UAV
32
THANK
YOU
33