A nonparallel hexrotor UAV with faster response to disturbances for precision position keeping

This paper presents a fully actuated UAV platform with a nonparallel design. Standard multirotor UAVs equipped with a number of parallel thrusters would result in underactuation. Fighting horizontal wind would require the robot to tilt its whole body toward the direction of the wind. We propose a hexrotor UAV with nonparallel thrusters which results in faster response to disturbances for precision position keeping. A case study is presented to show that hexrotor with a nonparallel design takes less time to resist wind gust than a standard design. We also give the results of a staged peg-in-hole task that measures the rising time of exerting forces using different actuation mechanisms.