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The Dynamics of the Swashplate Mechanism of a VTOL Unmanned Aerial Vehicle

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Abstract

The dynamics of the swashplate mechanism of the CL-327, anUnmanned Aerial Vehicle (UAV) with a Vertical Take-Off-and-Landing(VTOL) ability is discussed in this paper, the underlying kinematicshaving been discussed in an earlier paper. The CL-327 (Guardian)is currently under production by Bombardier Services-Defence, and isconsidered the world's most versatile and advanced VTOL system inproduction. The steering control mechanism used in all helicopters,including the CL-327, is a complex multiloop kinematic chain oftencalled the swashplate mechanism. In this paper a dynamic analysis of theparticular design used for the swashplate of the CL-327 is discussed.The Newton–Euler formulation is used in conjunction with the naturalorthogonal complement in order to derive the equations of motion of thesystem.

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Authors and Affiliations

  1. Institute of Mechanics and Mechanisms, Graz University of Technology, Kopernikusgasse 24, A-8010, Graz, Austria

    C. Lange

  2. Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, 817 Sherbrooke St. West, Montreal, Canada, H3A 2K6

    J. Angeles

  3. UAV Engineering, Bombardier Services-Defence, 10,000 Cargo A-4 Street, Montreal International Airport, Mirabel, Quebec, Canada, J7N 1H3

    F. Ranjbaran & G. Goritschnig

Authors
  1. C. Lange
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  2. J. Angeles
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  3. F. Ranjbaran
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  4. G. Goritschnig
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Lange, C., Angeles, J., Ranjbaran, F. et al. The Dynamics of the Swashplate Mechanism of a VTOL Unmanned Aerial Vehicle. Multibody System Dynamics 5, 105–131 (2001). https://doi.org/10.1023/A:1009874504407

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