Research Article
[Retracted] An Innovative Aerial Manipulator with Tandem Ducted Fans: Modeling, Control, and Simulation
Table 1
Structural parameters of the system.
| Parameter | Physical description | Value |
| mb | Vehicle mass (including battery) | 4.6 kg | mr | Manipulator mass | 0.9 kg | mgrasp | Max grasping mass | 0.5 kg | Ixx | Inertia tensor of the vehicle around x-axis | 0.092 kg·m2 | Iyy | Inertia tensor of the vehicle around y-axis | 0.283 kg·m2 | Izz | Inertia tensor of the vehicle around z-axis | 0.245 kg·m2 | pcd | Distance between duct center and CG of vehicle | 0.32 m | D | Duct diameter | 0.33 m | Sx | Vehicle effective resistance area around x-axis | 0.034 m2 | Sy | Vehicle effective resistance area around y-axis | 0.127 m2 | Sz | Vehicle effective resistance area around z-axis | 0.133 m2 | n | Blade number of each disc | 4 | c | Blade chord length | 0.027 m | θ0 | Attack angle at the root of blade | 35 deg | θrw | Torsion rate of blade | 18 deg | σ | Blade tip clearance | 0.001 m |
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