[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·m^2
Iyy	Inertia tensor of the vehicle around y-axis	0.283 kg·m^2
Izz	Inertia tensor of the vehicle around z-axis	0.245 kg·m^2
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 m^2
Sy	Vehicle effective resistance area around y-axis	0.127 m^2
Sz	Vehicle effective resistance area around z-axis	0.133 m^2
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