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Old Oct 20, 2010, 03:30 PM
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Building a Hexacopter with out a controller - Only with gyros - about 50 Pics

Building a Hexacopter with out a controller - Only with gyros

After reading quite a bit I ruled out a tricopter and a quad copter because of no redundancy.

My criteria that I wanted for my first multi copter were this :

1. Capable to lift 1.5 kg 2.5 kg inside this weight about 350 grams of FPV equipment and about 500-1000 grams of batteries
2. Strong relatively shock resistant structure that can withstand small bad landings
3. Slow stable flight for 15-30 minutes also in 100-300 meters altitude.
4. Simple electronics, No micro controller.
5. designing some sort of emergency system like 360 shock absorbers for a major crash May be I need to envelope all the electronics with 2 halves of a basketball made from Epp or other shock absorber.
6. Simple props, 11X4.7 or 12X5
7. Maybe an emergency parachute.
8. Adding some sort of HD detachable camera mount, Probably Gopro HD.
9. No special opposite props, using parts that could be used for other rc planes in the future.
10. Redundancy , Redundancy, Redundancy !!!

After reading a lot I came to the conclusion that building a Hexacopter based on a double standard tricopter schematic using a standard 120 degree swash CCPM transmitter will fit all my demands.

This way I have 3 pairs of arms that even if any motor, Esc or prop will fail on any pair of arms the Hexacopter will stay in the air.

The only part that would not have a bacup unit are the 4 Gyro's needed.
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Last edited by gpsnow; Oct 20, 2010 at 03:56 PM.
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Old Oct 20, 2010, 03:40 PM
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Hexacopter pics

Here some pics of the build:


















































































































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Old Oct 20, 2010, 03:54 PM
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Parts used so far :

26 cm diameter plywood – 137 grams
6 - 10X10 mm aluminum square rods – every rod 63 cm long – 74 grams each
3 short 12X7 aluminum rails for reinforcing the middle of the 26 cm plate – about extra 50 grams
14 - M4 hex screws with washers, nuts and safety washers – about 84 grams together.

All together the skeleton weighs about 740 grams.
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Old Oct 20, 2010, 04:09 PM
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Here are the parts I ordered :

8 Turnigy 2217 motors (2 Spair) - http://www.hobbycity.com/hobbyking/s...idProduct=5691



5 Gyros (1Spair) - http://www.hobbycity.com/hobbyking/s...dproduct=10113



20 Props 12X6 - http://www.hobbycity.com/hobbyking/s...dProduct=10051



20 Props 11X4.8 - http://www.hobbycity.com/hobbyking/s...dProduct=10049

Trex 450 CNC main blade holder for tail axe sis - http://www.hobbycity.com/hobbyking/s...idProduct=9196



Trex 450 Plastic main blade holder for tail axe sis - http://www.hobbycity.com/hobbyking/s...idProduct=8529



Link set for rudder control for tail motors - http://www.hobbycity.com/hobbyking/s...idProduct=8535



8 ESC 30 units (2 spair) http://www.leaderhobby.com/product.asp?ID=9394001070001



2 Batteries 5000Mah 3S - http://www.hobbyking.com/hobbyking/s...idProduct=9184

Servo Y cables - http://www.hobbycity.com/hobbyking/s...idProduct=9690

30cm Extension cables for servos - http://www.hobbycity.com/hobbyking/s...idProduct=9705

60cm Extension cables for servos - http://www.hobbycity.com/hobbyking/s...idProduct=9689
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Last edited by gpsnow; Oct 20, 2010 at 04:28 PM.
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Old Oct 20, 2010, 04:19 PM
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The concept is simple in the diagram



Black lines are actual rods with Motor, Esc and Prop
Red lines are imaginary gyro axe sis for 120 degree swash plate CCPM control.
Motors 1+2 are conected to gyro1(G1)
Motors 3+4 are conected to gyro2(G2)
Motors 5+6 are conected to gyro3(G3)
2 Servos near motors 5+6 and control the rudder are conected to gyro4(G4) - (Head lock)
Mix between motors 1+2 and motors 3+4 will give aileron control
Motors 5+6 will give forward backwards control
Another axe sis on motor 5+6 will give rudder control.

Any tips and comments will be appreciated.

Still didn't build skids for this monster – suggestions will also be appreciated.

Now I have to wait for all the parts for about 14 days.

Alex.
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Last edited by gpsnow; Oct 20, 2010 at 04:34 PM.
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Old Oct 20, 2010, 05:30 PM
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I have just abandoned the gyro path with a tricopter... I spentt way too much time building and testing, than flying.. Went for Mikrokopter in quad Which will later be upgraded to an octo.

I really like your redundant approach, but with two Yaw mechanisms and two servos, its gonna be heavy (i would also use nylon screws if it was my build).

Another thing I like, is that you have redundancy if loosing a motor. Something a normal hexa cant without loosing Yaw authority...

However, for my AP application, having gps locks, height hold, built in nick and roll stabilized output for cameramount, the intelligent failsafes and proven components makes the choice easy for me..

Looking forward to some more pics of your build. Eventhough I wouldnt go That way myself, it's always a joy to be inspired by others!
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Old Oct 20, 2010, 06:16 PM
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Looking good Alex!

I'm very interested to see how this goes

Simon
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Old Oct 20, 2010, 06:55 PM
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Oh, just noticed your gyro mounting, dunno if this is final mounting?
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Old Oct 20, 2010, 07:38 PM
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Gyro mounting looks good to me. They're on foam tape and they seem to be correctly positioned for a "virtual" tricopter

Simon
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Old Oct 20, 2010, 11:02 PM
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Old Oct 21, 2010, 02:54 AM
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Gyro's locations are final.
I am going to add a 90 degree small mount for the Gyro's since they have a little deviation on the plastic when they are mounted vertically.
Tomorrow I'll connect servos temporarily instead of motors to calibrate and check the Gyros.
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Old Oct 21, 2010, 04:29 AM
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Quote:
Originally Posted by gpsnow View Post
they have a little deviation on the plastic when they are mounted vertically.
I usually put a double thickness of D/S foam tape to counteract that ridge when you mount the gyros on their sides.

Simon
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Old Oct 28, 2010, 06:15 AM
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bump now get back to work on this project!
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Old Oct 28, 2010, 09:51 AM
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Amazingly Interesting, watching with anticipation.
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Old Nov 06, 2010, 06:51 PM
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Had some time to work on my hexacopter project, Here aresome Pics :


























































































2 Short movies :

Hexacopter Tail Rudder before installing a servo (0 min 16 sec)


Hexacopter Tail Rudder after installing a servo (0 min 46 sec)


Still need to :
Properly install Gyros
Order proper props (GWS r 2 soft).
Organize the wiring
Build landing skids

Total weight ~1800 grams, 5000 mAH battery weighs another 430 Grams.

I need some help with setting up the remote :

I fixed the remote to a 120 degrees swash plate and every thing seems okay, the only problem is when I check the system on the ground when trying to go forward and backwards (ele) the front left arm also gets more or less power and the front right arm has the same power ???

could some advise me if I need to setup some sort of Mix ??
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