FAH-ptf: A Class of Fully Actuated Hexacopter Based on Passively-Tilting Frame

This article presents a novel fully actuated hexacopter based on passively-tilting frame (FAH-ptf). The proposed mechanism design generates controllable thrust via rotor-thrust-driven passive tilting, and achieves independent control of translational and rotational motions using only six rotors without servo motors. Compared to existing fully actuated unmanned aerial vehicles, this structure eliminates internal thrust cancellation and minimizes the number of actuators, significantly improving flight efficiency and endurance under equivalent payload conditions. Based on the derived dynamic model of FAH-ptf, a hierarchical fully actuated controller is designed to ensure stable and efficient operation. Experimental results validate the full actuation capability and energy efficiency of FAH-ptf, demonstrating consistent high performance across varying tilt angles.