Manufacturing and flight tests of a quadrotor UAS with tiltable rotors

Multi-rotor air vehicles are controlled by varying the rotor speeds. The variation of the rotor speeds enable the altitude change, yaw motion as well as pitch and roll motions of the vehicle. Pitch and roll motion leads to translation motions along x and y axes. When the air vehicle is used for surveillance type missions, the tilting of the vehicle is not desired, since the camera will also be tilted with the vehicle as it moves. In this work, the design and manufacturing of a quadrotor with tiltable rotors that can move without tilting the vehicle has been described. Firstly the proposed system has been designed, and then it was manufactured. The rotor tilting amount is measured with an IMU, and the required value can be set with two servos for each rotor. Successful experiments show the benefits of the proposed system over regular multi-rotor vehicles.