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.

翻译：星形倾斜六旋翼飞行器因其对鲁棒性与机动性的高度需求而迅速兴起。为确保这些特性的提升，必须对倾斜角进行审慎选择。本研究通过考虑重力补偿与扭矩解耦以满足悬停条件，系统分析了力子空间如何随倾斜悬臂角（即沿飞行器机臂的倾斜角）变化。本文提出了新的评估指标，用于分析现有倾斜平台的性能，并为设计阶段倾斜悬臂角的选择提供指导原则。