WO WO2024217605A1
Unmanned aerial vehicle with soft arm propulsion vectoring comprises at least two coaxial counter-rotating motors (12) and at least a pair of propellers (11) placed above each other that are adapted to be individually controlled. The propellers (11) are housed in a main body represented by a shroud (1) having substantially cylindrical inner opening (13). At least three arms (2) are mounted symmetrically to each other under the shroud (1) and the arms (2) are adapted to receive air thrusted by propellers, which exits in the opening provided in the lower portion of the arm (2). The opening of the arm (2) is configured to rotate in the direction of the main axis (A) of flexion. The shroud (1) in combination with the propellers (11) acts as a ducted fan and enhances thrust efficiency and also acts as a safety guard against collisions with the environment. The Inertial Measurement Unit (IMU) is essential for stabilization, continuously reading linear accelerations and angular velocities used for calculating required moments and forces necessary for stabilization.
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