# Design and implementation of vacuum-cleaning mechanism on a multi-rotor

Bhupendrakumar, Joshi Vasu and Kumar, R Prasanth (2019) Design and implementation of vacuum-cleaning mechanism on a multi-rotor. Masters thesis, Indian institute of technology Hyderabad.

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## Abstract

Multi-rotor is a fast evolving field with its applications panning all facets of human life. A novel concept of doing vacuum-cleaning on glass panels a high-rise building autonomously with a multi-rotor attached with a custom-made vacuum-cleaning mechanism rather than manual high-rise window cleaning is discussed and implemented here. The novel idea is to generate vacuum from existing rotating propellers by installing them in a venturi tube. Two major tasks are to be fulfilled for the same: 1) Design and manufacturing of vacuum-cleaning mechanism 2) Making the multi-rotor flight autonomous. For the 2nd task, mathematical model of a multi-rotor dynamics is mandatory for simulation of multi-rotor motion in 3D space and creation of the control algorithm. The aim here is to define mathematical model which can simulate The objective is to define the mathematical model which will describe the multi-rotor behavior and motion with sufficient. For this, the multi-rotor is treated as a rigid body and laws of Rigid Body Dynamics are applied for the modelling. At the start of model, coordinate systems are defined and explained. After that, relationship between various parameters in the earth-fixed and body-fixed system is defined by using those coordinate systems. Further, the multi-rotor kinematics is discussed which establishes and makes use of the above relations to find position, velocity and accelerations. Also, multi-rotor dynamics is utilized to acquaint forces and moments with the model. Translation and rotation are solved separately with Newton’s 2nd law of motion and Conservation of Angular momentum principle and they are combined together to make a Combined EOM in matrix form. Those equations are implemented in the simulation. Results of behavior of multi-rotor mathematical model are graphically shown for two cases. The 1st task requires existing propellers to be installed in the entrance cylinder of venturi-tube. Due to high rotational velocity, they create an airflow within the venturi tube. Due to continuity equation and Bernoulli’s energy equation, vacuum (negative) pressure is created with respect to surrounding atmosphere. If a suction inlet is provided in throat of venturi-tube it will create suction airstream and if a suction pipe attached to the throat is kept near dirty surface due to vacuum in throat, it will create vacuum-cleaning, this is designated here as vacuum-cleaning by Axial fan since propellers are axial fans. If this technique fails, a vacuumcleaning mechanism is to be made from centrifugal fan and additional motor, which is designated as vacuum-cleaning using Centrifugal fan.

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IITH Creators:
IITH CreatorsORCiD
Kumar, R PrasanthUNSPECIFIED
Item Type: Thesis (Masters)
Uncontrolled Keywords: Multi-rotor, Quadcopter, mathematical model, Rigid body dynamics, Euler angles, Vaccum-cleaning, Ventri-tube, Axial fan, Centrifugal fan, Waypoint navigation
Subjects: Physics > Mechanical and aerospace
Divisions: Department of Mechanical & Aerospace Engineering
Depositing User: Team Library
Date Deposited: 15 Jul 2019 10:03