| Device mass | 6.2 kg |
| Device height (ground to top of base) | 45 cm |
| Device length (counterweight to front propeller) | 127 cm |
| Helicopter body mass | 1.15 kg |
| Helicopter body length | 49.8 cm |
| Base dimensions (W × L) | 17.5 cm x 17.5 cm |
| Pitch and elevation encoders resolution (in quadrature) | 4096 counts/rev |
| Yaw/travel encoder resolution (in quadrature) | 8192 counts/rev |
| Pitch angle range | 64 (± 32.0 deg) |
| Elevation angle range | 63.5 deg |
| Travel angle range | 360 deg |
| Pitch force thrust constant | 0.22 N/V¹ |
| Propeller diameter | 20.3 cm |
| Propeller pitch | 15.2 cm |
| Pitch/front motor resistance | 0.83 Ω |
| Pitch/front motor – current-torque constant | 0.0182 Nm/A |
| Yaw/back motor resistance | 0.83 Ω |
| Yaw/back motor – current-torque constant | 0.0182 Nm/A |
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Overview
The helicopter body is suspended from an instrumented joint that is mounted at the end of an arm and is free to pitch about its centre. The other end of the arm is fastened to the base using a two degree of freedom joint, allowing the helicopter to rotate about the vertical axis as well as up and down. The other end of the arm has an adjustable counterweight that changes the effective mass of the helicopter system – making it light enough to be lifted by the thrust from the propellers. All axes are measured using high-resolution encoders to obtain precise position feedback. The slip ring mechanism on the vertical axis allows the body to rotate continuously by eliminating the need for any wires to connect the motors and encoders to the base. The front and back propellers control the movement of the helicopter.
Three degrees of freedom (3 DOF): body rotates about pitch, travel and elevation axes
Propellers driven by high-quality Pittman DC motors
High-resolution optical encoders for precise position measurements
Slip ring allows infinite motion about the vertical and travel axis
Easy-connect cables and connectors
Precise, stiff and heavy-duty machined components