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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.29646 |
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| _version_ | 1866917374622433280 |
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| author | Bosak, Anja Erić, Dorian Milas, Ana Bogdan, Stjepan |
| author_facet | Bosak, Anja Erić, Dorian Milas, Ana Bogdan, Stjepan |
| contents | In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing agility and fixed-wing cruising efficiency. Building on the successful design of the spincopter platform, this work introduces a simplified mechanical architecture using lightweight materials and a novel wing-folding strategy. Unlike traditional rigid-body approximations, we derive a nonlinear flight dynamics model that enables arbitrary force distributions across a segmented wing structure. This modularity allows for testing different airfoils, mass distributions, and chord lengths in a single environment. As part of this work, various flight modes were specifically tested and analyzed in the Simulink environment. The results show that the model behaves predictably under different structural configurations, demonstrating its reliability as a tool for rapid design evaluation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_29646 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design and Aerodynamic Modeling of MetaMorpher: A Hybrid Rotary andFixed-Wing Morphing UAV Bosak, Anja Erić, Dorian Milas, Ana Bogdan, Stjepan Robotics In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing agility and fixed-wing cruising efficiency. Building on the successful design of the spincopter platform, this work introduces a simplified mechanical architecture using lightweight materials and a novel wing-folding strategy. Unlike traditional rigid-body approximations, we derive a nonlinear flight dynamics model that enables arbitrary force distributions across a segmented wing structure. This modularity allows for testing different airfoils, mass distributions, and chord lengths in a single environment. As part of this work, various flight modes were specifically tested and analyzed in the Simulink environment. The results show that the model behaves predictably under different structural configurations, demonstrating its reliability as a tool for rapid design evaluation. |
| title | Design and Aerodynamic Modeling of MetaMorpher: A Hybrid Rotary andFixed-Wing Morphing UAV |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.29646 |