Quadcopter with thrust vector control based on Scotch yoke

== Abstract ==

People are interested in quadcopters (or quadrotors) because of flight maneuverability and a variety of applications. Standard quadrotor has constant mechanical structure  frame with four motors and four rotors (propellers), and usually, rotors do not change the angle of the rotation axis relative to the frame. However, there are several designs in which the axis of rotation of rotors changes the angle relative to the frame (for example, 'Holocopter' and 'Tilt-rotor'), and this option changes the thrust vector of the quadcopter. In this work a novel design of thrust vector control based on the Scotch yoke is proposed. All rotor axes incline simultaneously in any direction by only two servos. Construction design is proposed, and general dynamics are described.

== Full document ==
<pdf>Media:Draft_Content_937794949P_IDC13_974.pdf</pdf>