Design and Analysis of Scissor Extendable Airframe for a Morphing Multirotor

This paper presents a general class of scissor extendable airframes (SEA) for adjusting the size of multirotor in flight to various specific tasks and environments. The proposed SEA is a single degree-of-freedom mechanism, which consists of multiple extendable rotor arms (ERAs) symmetrically arranged around a closed-loop central linkage mechanism. All ERAs are hinged to the central linkage mechani...