| dc.description.abstract | This study proposes a comprehensive design and construction methodology for a novel tri-copter tilt-rotor Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) dubbed SOAR. SOAR is designed with the dual capabilities of hovering like a multirotor and efficient forward flight akin to a conventional fixed-wing aircraft. The unique design approach includes the use of ePLA-LW, an engineering-grade foaming PLA (Polylactic acid), to manufacture components with lightweight yet robust structural integrity. The manufacturing process involves optimizing the temperature, layer height, and flow rate to control the material's foaming behavior, thus achieving varying densities to suit the specific rigidity requirements of each part. The design also incorporates an internal support skeleton comprised of hollow carbon fiber tubes connected by solid aluminum tube connectors, alleviating stress on the 3D-printed parts and ensuring uniform lift across the craft. In addition, the fuselage design emulates the aerodynamics of a water droplet, while a V-tail configuration was adopted to balance weight, drag, and control surface efficiency. One of SOAR's unique features is a quickly swappable payload compartment situated in the front, offering flexibility for interchangeable payload modules to suit various mission requirements. For example, the current payload includes a LiDAR, an optical flow sensor, an airspeed sensor, and a space for a gimbaled camera, all neatly accommodated within the nosecone. Control of the UAV was initially proposed to be rotor-based only. However, the study identified efficiency concerns with this approach, especially concerning yaw control at high speeds. Thus, tail wing control surfaces were introduced to supplement rotor-based control, improving stability and efficiency. The success of the SOAR design was evaluated based on structural soundness, weight, controllability, and flight performance, with promising results. This study highlights that the SOAR design and construction methodology provides a viable solution for a lightweight and simple-to-use VTOL UAV and showcases the potential for easy retrofitting with a variety of sensor payloads, enhancing its adaptability for a broad range of applications. | en_US |
