A Cable-Based Quadrotor Test Bench: Preliminary Results

This paper focuses on the design and construction of an experimental test bench aimed to verify the 6DOF quadrotor flight controllers. The system is based on a cable-driven parallel mechanism. Usually, to test quadrotor flight controllers require a long time development, including a simulationSimulation stage and experimental verification. Last procedure can be dangerous because propellers are moving parts at high speed. The cable based quadrotor test bench presented in the paper aims to fill the gap between controller simulations and real time flight. First, the mathematical model of general quadrotors is revised considering aerodynamic characteristics. Then, paper gives a detailed description of the proposed test bench, the hardware, operation features and its components. Finally, preliminary tests were implemented to indicate the feasibility and value of the test bench.