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RONE

EAM

ROJECT NO

2015-1-ES01-KA202-015925

4.M

ODULE OF

DVANCED

RAME

FLOATING DESIGN

If we are going to fly a drone above the sea, a river or a lake, we need to be sure that it is going

to float if it falls accidentally on them. The structure is made of ABS plastic with the 3D printer.

9.1.

BASED ON ARCHIMEDES’ PRINCIPLE

https://physics.weber.edu/carroll/archimedes/principle.htm

Содержание S250

Страница 1: ......

Страница 2: ...COMPASS CONTROL 6 MODULE OF PROBLEM MANAGEMENT 7 MODULE OF FLIGHT STABILIZATION SYSTEM 8 MODULE OF FIRST PERSON VIEW 9 DRONETEAM E LEARNING PLATFORM 10 OTHER DEVELOPMENTS 11 GLOSSARY This project has been funded with support from the European Commission This publication reflects the views only of the author and the Commission cannot be held responsible for any use which may be made of the informat...

Страница 3: ...0 MODULE OF ADVANCED FRAME 2015 1 ES01 KA202 015925 ...

Страница 4: ...TERY TURNIGY 2 2 AMPS 11 1V 3S 1 5C 7 2 2 5 BATTERY MULTISTAR 3 0 AMPS BATTERY 11 1V 3S 20C 7 2 2 6 HOBBYKING B3AC COMPACT CHARGER 8 2 2 7 APM KIT 2 6 8 3 ASSEMBLY 8 3 1 TOOLS FOR MOUNTING 8 3 2 MECHANICAL ASSEMBLY 8 3 3 ELECTRONIC ASSEMBLY 8 3 3 1 APM 2 6 vs CC3D 8 3 3 2 PRESET MOTORS 9 3 4 CONNECTION DIAGRAM APM 2 6 11 3 4 1 INPUTS PORT APM 2 6 RECEIVER RC 11 3 4 2 GPS 13 3 4 3 TELEMETRY 14 3 4 ...

Страница 5: ... 2 THE MOST IMPORTANT PARTS 34 7 3 OPERATION OF THE INJECTION OR FIXED PART 35 7 4 OPERATION OF THE INJECTION OR FIXED PART 35 7 5 OPERATION OF THE EJECTOR OR MOBILE PART 36 7 6 OPERATION OF THE EJECTOR OR MOBILE PART 37 8 CREATING DRONE PARTS ON A 3D PRINTER 37 8 1 INTRODUCTION 37 8 2 MODELING 37 8 3 3D PRINTERS 37 8 4 HOW TO ANALYZE A 3D PART 38 8 5 PRINT SETTINGS 38 8 6 ADVANCED PRINT SETTINGS ...

Страница 6: ...to perform scheduled routes That is why for a basic drone they don t usually incorporate these components but for advanced drones they are necessary The advanced components that are usually incorporated are GPS Magnetometer Gyroscope and Barometer First eight components are necessary to have a Basic Drone that can fly The last four components are necessary to have an Advanced Drone with greater st...

Страница 7: ...on It is needed for waypoint flying mode 1 3 POWER MODULE Power module permit measure current consumption and provides a stable voltage It allows triggering a warning when battery is near of its capacity or there is a power problem 1 4 TELEMETRY Telemetry is used to collect data from mounted sensors The data flow is bidirectional it can send data about the flight to a Ground Station and send comma...

Страница 8: ...smission system the video receiver and the vision screen In addition to the main elements a drone can have a stabilising system of the camera known as Gimbal This system has the function of stabilising the camera avoiding that the own inclination of the drone in its movements or the vibration of the motors can affect the quality of the images In the most advanced drones it is possible for an opera...

Страница 9: ... control and cause an accident that could hit a person or cause material damages Never place the propellers in the Quadcopter to be sure of the direction of rotation of these have been mounted and should to be controlled safely Never leave charging batteries unattended or exposed to direct sunlight Never allow the cell voltage of the battery drops below 3 3V in shock 2 2 KIT CONTENTS 2 2 1 KIT S25...

Страница 10: ...PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 7 2 2 3 TURNIGY 9X 9CH MODULE 8CH RECEIVER MODULE 2 2 4 BATTERY TURNIGY 2 2 AMPS 11 1V 3S 1 5C 2 2 5 BATTERY MULTISTAR 3 0 AMPS BATTERY 11 1V 3S 20C ...

Страница 11: ...M KIT 2 6 3 ASSEMBLY 3 1 TOOLS FOR MOUNTING Allen Wrenches Phillips screwdriver Tweezers Double sided adhesive foam sticker 3 2 MECHANICAL ASSEMBLY For chassis assembling we should follow the manual accompanying the kit SPEDIX 3 3 ELECTRONIC ASSEMBLY 3 3 1 APM 2 6 vs CC3D The main differences between these autopilots are ...

Страница 12: ...are not placed before performing the following steps Unlike CC3D must be pre set motors for greater motor performance To do this connect each motor with RC receiver channel 3 as shown in the following figure Why channel 3 of the receiver This channel is transmitting the value of the transmitter stick corresponding to the throttle or also known as gas which is the value that allows us to give power...

Страница 13: ...e make these steps the procedure is as follows for connecting both ways Connect a tricolored cable channel 8 RC receiver to the port channel 8 OUTPUTS APM 2 6 This will cause the receiver to work when the battery is connected With the transmitter battery still connected and disconnected the throttle stick will move to its maximum position IMPORTANT Be sure the propellers are not placed before the ...

Страница 14: ...M PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 11 3 4 CONNECTION DIAGRAM APM 2 6 3 4 1 INPUTS PORT APM 2 6 RECEIVER RC Connections between ArduPilot advanced controller APM and Drone Receiver ...

Страница 15: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 12 ...

Страница 16: ...ECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 13 3 4 2 GPS The connector with 2 wires must be connected to the I2C port Magnetometer and formed by 4 in the GPS connector as shown in the following figure ...

Страница 17: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 14 3 4 3 TELEMETRY Telemetry must be connected to the TELEM connector as shown in the following figure 3 4 4 POWER MODULE ...

Страница 18: ... 015925 4 MODULE OF ADVANCED FRAME 15 The Power module must be connected to the PM connector as shown in the figure below this will allow us to know the battery voltage and ampere consumption of the motors 3 4 5 OUTPUT PORTS APM 2 6 MOTORS ...

Страница 19: ...ollows 4 SETTING MISSION PLANNER For optimal configuration of your drone you can download the files from DroneTeam eLearning Platform access from DroneTeam Webpage http www droneteamproject eu Mission Planner is a platform created for configuring certain autopilots ArduPilot PixHawk open source and free Allow the configuration and monitoring for our autopilot data received from this Connect your A...

Страница 20: ...opriate port in our case Silicon Labs USB to UART CP210x and the secondary option select 57600 Press the CONNECT button A tab as the following which first if everything is correct DONE will appear and then load a set of returning parameters Wait until the tab disappears If an error occurs it will start a countdown to solve this problem try the following solutions or Reconnect the device and try ag...

Страница 21: ... new screen like the one shown in the following image appears Click on APM V3 3 3 Copter Quad a tab will appear asking for upgrade confirmation press YES and hope to finish the upgrade process Click on the left side part of the Wizard option a tab such as that seen in the following image and proceeds to APM settings will be displayed Click on Multirotor and then on Next Selection of frames will be...

Страница 22: ...ct the port to APM Arduino Mega 2560 and press Next A small tab appears with the upgrade process IMPORTANT Don t disconnect your APM during the firmware update or APM can be damaged Select Frame again in V as in the previous steps and click Next Then we proceed to calibrate the accelerometer APM the following steps should be followed as quickly as possible since the calibration has time between st...

Страница 23: ...lat surface as shown in the figure below Once done click Continue Place the drone turned left 90 degrees as shown in the picture below and press Continue Place the drone turned right 90 degrees as shown in the picture below and press Continue Place the drone tilting or 90 forward as shown in the picture below and press Continue ...

Страница 24: ... the axes of the drone north once faced you must turn the drone 360 around the axis Check that the option Use auto accept is marked in this way when they have received enough data automatically finish the whole process returning to the previous display Click Next Then the tab for configuring the power module is shown for it in the first option should be selected 2 APM2 5 3DR Power Module in the se...

Страница 25: ...topilot which includes both the route such as where to take a picture Acro The acro mode aerobatic mode uses the sticks of the transmitter to control the vehicle turns If the sticks are released the vehicle maintains the altitude at which it is located This mode is useful as its name suggests for aerobatics Sport The sport mode was designed to fly FPV and recording in difficult areas since the veh...

Страница 26: ...o the take off point so it can cause problems inside so we must have the fail safe mode off when we fly indoors Press Next the GeoFence Settings tab appears This set of options allows you to define a flight zone which the vehicle may not exceed It is recommended to turn on outdoor test flights so that aircraft do not leave your virtual frame It can cause failures in indoor flights so it is recomme...

Страница 27: ...the sticks and display the answer Example Move Roll to the right the screen should display as the green bar Roll call must be filled to the right Do the same on all sticks all except the pitch This bar should run inverted to stick to the station that is if you move the stick up the bar must be filled down If any of the controls are reversed follow these steps Access the CONFIG TUNING tab on the Fu...

Страница 28: ...5925 4 MODULE OF ADVANCED FRAME 25 6 PROPELLER COMPARATIVE Parameters controlled Consumption in amps Revolutions per minute Volts on the battery Thrust in real grams on the structure of the drone Propellers used on test Propeller Nr1 ref 6045 ...

Страница 29: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 26 Propeller Nr2 ref 6030 Propeller Nr3 ref 5045 3B ...

Страница 30: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 27 Propeller Nr4 ref 5045 BN 3B Propeller Nr5 ref 5045 Drone ...

Страница 31: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 28 Propeller Nr6 ref 5045 High Efficiency Propeller Nr7 ref 5030 ...

Страница 32: ...EAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 29 6 1 CALCULATIONS 6 2 TESTS 6 3 PREMISES AND CONCLUSIONS The thrust on the structure of the drone and the measurements are absolutely real ...

Страница 33: ...opeller blades In addition you can also add letters BN Bullnose type of trimmed propeller The Bullnose type are not very efficient but they get a greater boost and their consumption is high This is due to the fact that they have a greater surface area than you finish them in tip R Propellers that must be mounted on the motor clockwise L Propellers that must be mounted on the motor counter clockwis...

Страница 34: ...ETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 31 6 5 FIRST TESTS First Test Video https youtu be t6jLUsmHzDI 6 6 MAKING A LAB MACHINE AND TESTING Video Link https youtu be pgUqAcB3Y5s ...

Страница 35: ...1 KA202 015925 4 MODULE OF ADVANCED FRAME 32 7 PARTS OF A BASIC INJECTION MOULD AND HOW DOES IT WORK Propellers mould explaining step by step In February 2018 we injected some pieces using this mould in our injection moulding machine ...

Страница 36: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 33 For this we installed our mould in the injection moulding machine We made pieces with several materials and different colours ...

Страница 37: ...ETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 34 7 1 PARTS OF A BASIC INJECTION MOULD Which are the parts of a basic injection mould and how does it work 7 2 THE MOST IMPORTANT PARTS ...

Страница 38: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 35 7 3 OPERATION OF THE INJECTION OR FIXED PART 7 4 OPERATION OF THE INJECTION OR FIXED PART ...

Страница 39: ...DRONETEAM PROJECT NO 2015 1 ES01 KA202 015925 4 MODULE OF ADVANCED FRAME 36 7 5 OPERATION OF THE EJECTOR OR MOBILE PART ...

Страница 40: ... the CATIA software package we have developed a complete drone model consisting of antenna battery propeller engine controller leg engine mount guard lower and upper plate 8 2 MODELING Each part is modelled separately and then merged into the frame We selected the support leg and the engine and propeller shield to be created on a 3D printer When 3D models are created and saved we have to make the ...

Страница 41: ...aterial Group under printing options here we choose whether the printing materials are Zortrax materials or External materials the materials must be from Zortrax or other manufacturer If Zortrax materials are selected we choose from Z HIPS Z GLASS Z PETG Z ESD Z PLA PRO Z ASA PRO After selecting the material we select the print mode in the PROFILE menu We can choose between SMALL PRINTS and LARGE ...

Страница 42: ... than the object contours and HOLES as an additional option for printing holes 8 7 PREVIEW OF THE PART When we have set all printing options we click on PREVIEW The window opens Here we see under REPORT all printing data estimated print time 1h and 15 min material usage 2 54 meters or 6 grams Selecting EXPORT FILE opens the window 8 8 PART PRINTING We save a document prepared for printing on the S...

Страница 43: ... 9 LANDING GEAR Main characteristics of the landing gear It has to give space and protection to the ESC Electronic Speed Controller It has to be the lighter the better And it has to be strong to endure bumps forces and efforts Original landing gear Simpler landing gear 5 6 grams ...

Страница 44: ...1 Stronger landing gear design it would be for beginners but the worst problem is that they weigh a lot 8 2 grams And lighter landing gear design it would be for experts because they break very easily 3 5 grams Download link http www droneteamproject eu results download area2 ...

Страница 45: ...assembled in all the components it is possible to continue with the customization designing a chassis From the most complex to the simplest chassis all are equally valid and it is a very interesting exercise for the students who can design their chassis and print it in 3D For example two chassis for advanced drone ...

Страница 46: ...IGN If we are going to fly a drone above the sea a river or a lake we need to be sure that it is going to float if it falls accidentally on them The structure is made of ABS plastic with the 3D printer 9 1 BASED ON ARCHIMEDES PRINCIPLE https physics weber edu carroll archimedes principle htm ...

Страница 47: ...he drone we need to install floats as big as necessary V Volume of floats R Radio of floats L Length of floats ρ Density of water 1 g cm ᶺ 3 B Buoyancy W Weight 900 g I need B Weight 2 B 2 floats π R ᶺ 2 L ρ 2 π 3 cm ᶺ 2 32 cm 1 g cm ᶺ 3 1800 g In this case the floats only sink half of them ...

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