标题： 星形倾斜六旋翼机机动性：倾斜倾斜角作用的分析 显示英文标题

标题： Star-shaped Tilted Hexarotor Maneuverability: Analysis of the Role of the Tilt Cant Angles

摘要： 星形倾斜六旋翼机正在迅速兴起，广泛应用于对鲁棒性和机动性要求极高的场景。 为了提高这些特性，必须仔细选择倾斜角度。 在本工作中，我们对力子空间如何随着倾斜偏转角变化进行了严格的分析，即沿着飞行器臂的倾斜角度，在考虑重力补偿和扭矩解耦以满足悬停条件的情况下进行分析。 引入了新的指标来评估现有倾斜平台的性能，并为设计阶段倾斜偏转角的选择提供一些指导。 显示英文摘要

摘要： Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful selection of the tilt angles is mandatory. In this work, we present a rigorous analysis of how the force subspace varies with the tilt cant angles, namely the tilt angles along the vehicle arms, taking into account gravity compensation and torque decoupling to abide by the hovering condition. Novel metrics are introduced to assess the performance of existing tilted platforms, as well as to provide some guidelines for the selection of the tilt cant angle in the design phase.