Simplifying Quadrotor Frame Design: Toward Scalability with a Modular Robot

For aerial manipulation, current multirotor architectures lack modularity due to the integration of numerous components, making them complex, difficult to assemble and to maintain. To address this, we propose a redefined quadrotor frame design within a weight-optimized paradigm. By strategically placing components and utilizing optimization design techniques, we have developed a lightweight robot frame. This design simplifies the assembly process and accommodates various components, reducing the number of parts and, consequently, the risk of failure. Multiple flight tests have demonstrated the reliability of this aerial robot. Additionally, the chassis, along with complementary parts, is shared open-source, promoting accessibility as well as reproducibility and further development within the community.