Specifications

Figure 2: Components
Table 1: 2DOF Components
ID #
Component
ID #
Component
1 2
3 4
5 6
7 8
9 10
11
12
Back propeller Back propeller shield
Yaw/back motor Pitch encoder Yoke
Helicopter body Front propeller
Pitch/front motor Front propeller shield
Encoder/motor circuit Encoder connector
on circuit (not used) Motor connector on
circuit
13
14
15
16
17
18
19
20
21
22
23
Metal shaft rotates about yaw axis
Slip ring Yaw encoder Base platform
Front motor connector Right motor
connector (not used) Back motor
connector Yaw encoder connector
Roll encoder connector (not used)
Pitch encoder connector Left motor
connector (not used)
2.1.2 DC Motors (Components #3 and #8)
The 2DOF Helicopter has two DC motors: the yaw motor, component #3, actuating the back propeller and the pitch
motor, component #8, rotating the front propeller.
The yaw motor is a Faulhaber Series 2842 Model 006C motor. It has a terminal resistance of 1.6 Ω and a current-
torque constant of 0.0109 N.m/A. See [1] for the full specifications of this motor. The larger pitch motor is a Pittman
Model 9234. It has an electrical resistance of 0.83 Ω and a current-torque constant of 0.0182 N.m/A. The rated
voltage of the motor is 12 V but its peak voltage can be brought up to 22 V without damage. See [3] for the full
specifications of this motor.