A New Design of a Multi-Link Quadrotor

In this paper, we propose a new design of a multilink quadrotor capable of traversing narrow spaces and transporting objects by changing its shape to adapt the geometry while flying. Unlike traditional quadrotors, which need an arm manipulator for transportation, this design makes it possible to reduce its weight. The proposed aerial multilink quadrotor can fly and modify its orientation and position in space without affecting the difference between lift forces provided by its propellers. Instead, the attitude movements can be achieved by adjusting the angles of its links, which allows the optimization of the consumed energy. Furthermore, it can adapt its morphology in flight according to the assigned task to find the most suitable configuration. We have proposed several configurations, each of which can be used to perform the task efficiently and optimally, and identify singular configurations that should be avoided that could render our system uncontrollable.