This paper presents the design of a gimballed rotor mechanism as a modular and efficient solution for constructing omnidirectional quadrotors. Unlike conventional quadrotors, which are underactuated, this class of quadrotors achieves full actuation, enabling independent motion in all six degrees of freedom. While existing omnidirectional quadrotor designs often require significant structural modifications, the proposed gimballed rotor system maintains a lightweight and easy-to-integrate design by incorporating servo motors within the rotor platforms, allowing independent tilting of each rotor without major alterations to the central structure of a quadrotor. To accommodate this unconventional design, we develop a new control allocation scheme in PX4 Autopilot and present successful flight tests, validating the effectiveness of the proposed approach.

翻译：本文提出了一种万向节转子机构的设计，作为构建全向四旋翼飞行器的模块化高效解决方案。与传统欠驱动的四旋翼飞行器不同，此类四旋翼飞行器实现了完全驱动，能够在所有六个自由度上独立运动。现有全向四旋翼设计通常需要显著的结构修改，而所提出的万向节转子系统通过在转子平台内集成伺服电机，保持了轻量化和易于集成的设计，允许每个转子独立倾斜，而无需对四旋翼的中心结构进行重大改动。为适应这一非常规设计，我们在PX4自动驾驶仪中开发了新的控制分配方案，并展示了成功的飞行测试，验证了所提方法的有效性。