Abstract:
This thesis focuses on the design and development of components of an omnirotor, all-terrain platform.
The platform is capable of performing as a modular, versatile, and all-terrain vehicle. The
vehicle consists of two motor-controlled 3D printed joints that rotate continuously to aid the rotors
to apply full thrust to any desired direction without considering the orientation of the frame used to
mount the module. The joint’s continuous rotation also makes the vehicle apply full thrust continuously
without returning to a previous position. Employing the outer frame design, the module can
act as a Vertical Takeoff and Landing (VTOL) Micro Aerial Vehicle (MAV) with hovering and floor
navigation capabilities. Thus the omnirotor can act as a vehicle manoeuvring on the ground and as
an Unmanned Aerial Vehicle (UAV). A series of experiments conducted validate the efficiency of
the proposed all-terrain platform. The outer frame consists of carbon fibre rods and 3D printed PLA
connectors, while the main module consists of 3D printed PLA parts. The total vehicle weighs 1820
g.
