MES - Modular Frame

[[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-mes-reconfigurable-folding-uav-frame-kit.html||rel="noopener noreferrer" target="_blank"]]

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**Table of Contents**

= Description =

== Assembly Guide ==

1. [[MES - Arm Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-arms.WebHome]]

14

1. [[MES - Center Frame Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-center-frame.WebHome]]

15

1. [[MES - Landing Gear Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-landing.WebHome]]

16

1. [[MES - Quick Release Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-quick-release.WebHome]]

17

1. [[MES - Final Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-final-assembly.WebHome]]

18

1. [[MES - Arm Clip Positions>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-arm-clip-positions.WebHome]]

19

20

The Multirotor Erector Set (MES) - Reconfigurable Frame is an all-in-one frame designed to allow the user to easily experiment with a variety of different multirotor designs, without having to invest in a variety of custom frames. The frame is based on the M.E.S. system which uses aluminum tubing clamps, G10 composite plates and carbon fiber tubing. A wide variety of different designs can be created using this single frame system and each can vary in terms of arm length, motor configurations, accessories and more.

== Applications ==

* UAV / drone / multirotor education, development & experimentation

25

* Sensor experimentation

26

* Design & payload optimization

== Features ==

* Reconfigurable center frame

31

* Mounting for one or two batteries

32

* Selection of different carbon fiber tube lengths

33

* Removable, quick release landing gear

34

* Variety of multi-purpose mounting mounts

35

* Quick release folding arms and removable landing gear

36

* Side mounted ESC for easy access

37

* Wiring within tubing

38

39

== What's Included ==

40

41

* G10 composite (non-conductive) parts for complete frame assembly

42

* Anodized (orange) aluminum tubing clamps

43

* Carbon fiber tubes

44

* Hardware (screws, standoffs, grommets, bearings, foam)

== What's Needed ==

* Brushless DC (BLDC) motors (4 to 12 depending on design) and corresponding mounting screws

49

* Electronic Speed Controllers (ESCs) compatible with BLDC motors selected

50

* Flight controller (Lynxmotion Quadrino Nano suggested)

51

* Power Distribution (Lynxmotion Power Distribution Module suggested)

52

* Battery compatible with BLDC motors (one or two can be mounted)

53

* Remote Control (RC) system with minimum 4ch and receiver

54

* Optional: Gimbal; Video transmitter / receiver; Camera; Sensors;

55

56

== Design Examples ==

57

58

The following designs are examples of what is possible with the MES system. These are all included in the assembly guide and allow you to become familiar with the system. Spare parts are included to allow you to create alternative designs, and additional hardware can be purchased separately.

59

60

|(% style="width:200px" %)**//CAD Image//**|//**Title / Description**//

61

|(% style="width:250px" %)(((

)))|(((

**X4 Quadcopter**

The X4 quadcopter design incorporates folding arms and removable landing gear. There is a motor mounted to each of the four arms. Wiring is internal.

67

)))

68

|(% style="width:250px" %){{lightbox image="MES-F-X8-ISO.png"/}}(((

)))|(((

**X8 Quadcopter**

The X4 quadcopter design incorporates folding arms and removable landing gear. There is a motor mounted to both the top and the bottom of each of the four arms. Wiring is internal.

74

)))

75

|(% style="width:250px" %)(((

)))|(((

**Y4 Tri Arms**

The Y4 design design incorporates folding arms and removable landing gear. There is one mounted to the front arms and two motors mounted to the center rear arm.

81

)))

82

|(% style="width:250px" %)(((

)))|(((

**Y6 Tri Arms**

The Y6 design includes two folding arms, each with a motor, and a rear fixed arm with a motor mounted to the top and bottom of the arm. Wiring is internal.

88

)))

89

|(% style="width:250px" %)(((

)))|(((

**HEX 6 Hexacopter**

The H6 hexacopter design incorporates folding arms and removable landing gear. There is a motor mounted to each of the six arms,. Wiring is internal.

95

)))

96

|(% style="width:250px" %)(((

97

98

)))|(((

99

**HEX 12 Hexacopter**

100

101

The H12 hexacopter design incorporates folding arms and removable landing gear. There is a motor mounted to both the top and bottom of each of the six arms. Wiring is internal. This design requires independent control of 12 motors, which is not supported by MultiWii /

)))

== Design Guide ==

This section covers only the basics of how to select additional components to complete the MES frame.

=== Accessories ===

The types of accessories to connect to the frame are at the discretion of the designer. Components can be added above the frame or below, and a universal mounting plate is included. The length of the landing gear was selected in order to accommodate both a battery below the center frame as well as a standard two axis gimbal. For three axis gimbals, note that the distance between the bottom of the center frame and the ground is ~_~_~_~_.

111

112

The Lynxmotion Servo Erector Set (SES) pattern has been incorporated into several positions on the frame. This pattern allows SES compatible hardware (brackets, C-channels and accessories) to be connected to the frame and used as universal mounting points. When mounting accessories, be check the center of gravity of the entire assembly and ensure it is at the very center of the drone. Should there be a weight imbalance, certain motors may need more power than others, and the flight characteristics may change significantly.

=== Battery ===

The MES frame supports using either one centrally mounted battery (below or above the main frame) or two batteries mounted on either the landing gear tubes or above the center plate. In a two battery configuration, we strongly recommend using identical batteries to ensure weight balance and uniform discharge. Note that both batteries should be fully charged before use, and your method of power distribution should support a two battery configuration. The battery is held in place by rubber foam and velcro straps, which supports a wide variety of different sizes. The battery's voltage should ideally match that of the BLDC motors selected, and the continuous discharge current rating ('C' rating) should be above the sum of the maximum current consumption of the motors used.

117

118

=== Motor, ESC, Propeller ===

119

120

In order to help determine the type and number of BLDC motors to use in a specific configuration, we propose following the steps below:

121

122

1. Calculate the total weight of the multirotor drone based on the desired configuration by adding the weight of all known parts (frame, flight controller, power distribution)

123

1. Add the total weight of any larger accessories such as a camera, gimbal system, video transmitter, heavier sensors etc. to the previous total.

124

1. Estimate the weight of unknown parts (motors, battery) and add it to the total:

125

11. Motor:

126

11. Battery:

127

11. The weight of the propellers, ESCs, receiver and lightweight sensors tend to have a minimal impact on the total.

128

1. Multiply the total weight obtained by two*, and divide this new value by the number of motors to be used. This will give you an estimate of the maximum thrust needed per motor + propeller combination

129

1. Select a motor + propeller combination which provides the thrust calculated in the previous step.

130

1. Adjust the total weight calculated in the first step using the weight of the motors to re-calculate the total thrust needed per motor.

131

1. Compare this new total to the maximum thrust which the motor can provide. If the motor's actual maximum thrust is less than around 90% of the thrust needed, find a new motor.

132

133

~* Multiplying the total weight of the drone by a factor of two is an estimate to provide sufficient thrust needed for basic aerial maneuvers and acceleration. For more acrobatic flight, this multiplication factor should be higher.

134

135

Should you wish to experiment with a wide variety of different configurations using a single type of motor, ESC and propeller, the following specs are suggested. Note that :

* Motor thrust:

* ESC:

* Propeller:

* Battery:

== Handheld Remote Control (RC) ==

143

144

The handheld remote control allows a human operator to control the drone remotely, and in the case of an autonomous drone, as a fail safe should the drone behave erratically. The minimum number of channels needed is four, with an additional channel often needed for each accessory / functionality. Many flight controllers require a full PWM range of 0.5ms to 2.5ms, which often requires that the remote control be configurable / programmable.

Wiki source code of MES - Modular Frame

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1	{{lightbox image="MES-F-HEX12-ISO.png" width="350"/}}
2
3	[[[[image:[email protected]\|\|alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-mes-reconfigurable-folding-uav-frame-kit.html\|\|rel="noopener noreferrer" target="_blank"]]
4
5	Table of Contents
6
7	{{toc/}}
8
9	= Description =
10
11	== Assembly Guide ==
12
13	1. [[MES - Arm Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-arms.WebHome]]
14	1. [[MES - Center Frame Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-center-frame.WebHome]]
15	1. [[MES - Landing Gear Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-landing.WebHome]]
16	1. [[MES - Quick Release Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-quick-release.WebHome]]
17	1. [[MES - Final Assembly>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-final-assembly.WebHome]]
18	1. [[MES - Arm Clip Positions>>doc:multirotor-erector-set.mes-reconfigurable-modular-frame.mes-arm-clip-positions.WebHome]]
19
20	The Multirotor Erector Set (MES) - Reconfigurable Frame is an all-in-one frame designed to allow the user to easily experiment with a variety of different multirotor designs, without having to invest in a variety of custom frames. The frame is based on the M.E.S. system which uses aluminum tubing clamps, G10 composite plates and carbon fiber tubing. A wide variety of different designs can be created using this single frame system and each can vary in terms of arm length, motor configurations, accessories and more.
21
22	== Applications ==
23
24	* UAV / drone / multirotor education, development & experimentation
25	* Sensor experimentation
26	* Design & payload optimization
27
28	== Features ==
29
30	* Reconfigurable center frame
31	* Mounting for one or two batteries
32	* Selection of different carbon fiber tube lengths
33	* Removable, quick release landing gear
34	* Variety of multi-purpose mounting mounts
35	* Quick release folding arms and removable landing gear
36	* Side mounted ESC for easy access
37	* Wiring within tubing
38
39	== What's Included ==
40
41	* G10 composite (non-conductive) parts for complete frame assembly
42	* Anodized (orange) aluminum tubing clamps
43	* Carbon fiber tubes
44	* Hardware (screws, standoffs, grommets, bearings, foam)
45
46	== What's Needed ==
47
48	* Brushless DC (BLDC) motors (4 to 12 depending on design) and corresponding mounting screws
49	* Electronic Speed Controllers (ESCs) compatible with BLDC motors selected
50	* Flight controller (Lynxmotion Quadrino Nano suggested)
51	* Power Distribution (Lynxmotion Power Distribution Module suggested)
52	* Battery compatible with BLDC motors (one or two can be mounted)
53	* Remote Control (RC) system with minimum 4ch and receiver
54	* Optional: Gimbal; Video transmitter / receiver; Camera; Sensors;
55
56	== Design Examples ==
57
58	The following designs are examples of what is possible with the MES system. These are all included in the assembly guide and allow you to become familiar with the system. Spare parts are included to allow you to create alternative designs, and additional hardware can be purchased separately.
59
60	\|(% style="width:200px" %)//CAD Image//\|//Title / Description//
61	\|(% style="width:250px" %)(((
62	{{lightbox image="MES-F-QUADX-ISO.png"/}}
63	)))\|(((
64	X4 Quadcopter
65
66	The X4 quadcopter design incorporates folding arms and removable landing gear. There is a motor mounted to each of the four arms. Wiring is internal.
67	)))
68	\|(% style="width:250px" %){{lightbox image="MES-F-X8-ISO.png"/}}(((
69
70	)))\|(((
71	X8 Quadcopter
72
73	The X4 quadcopter design incorporates folding arms and removable landing gear. There is a motor mounted to both the top and the bottom of each of the four arms. Wiring is internal.
74	)))
75	\|(% style="width:250px" %)(((
76	{{lightbox image="MES-F-Y4-ISO.png"/}}
77	)))\|(((
78	Y4 Tri Arms
79
80	The Y4 design design incorporates folding arms and removable landing gear. There is one mounted to the front arms and two motors mounted to the center rear arm.
81	)))
82	\|(% style="width:250px" %)(((
83	{{lightbox image="MES-F-Y6-ISO.png"/}}
84	)))\|(((
85	Y6 Tri Arms
86
87	The Y6 design includes two folding arms, each with a motor, and a rear fixed arm with a motor mounted to the top and bottom of the arm. Wiring is internal.
88	)))
89	\|(% style="width:250px" %)(((
90	{{lightbox image="MES-F-HEX6-ISO.png"/}}
91	)))\|(((
92	HEX 6 Hexacopter
93
94	The H6 hexacopter design incorporates folding arms and removable landing gear. There is a motor mounted to each of the six arms,. Wiring is internal.
95	)))
96	\|(% style="width:250px" %)(((
97	{{lightbox image="MES-F-HEX12-ISO.png"/}}
98	)))\|(((
99	HEX 12 Hexacopter
100
101	The H12 hexacopter design incorporates folding arms and removable landing gear. There is a motor mounted to both the top and bottom of each of the six arms. Wiring is internal. This design requires independent control of 12 motors, which is not supported by MultiWii /
102	)))
103
104	== Design Guide ==
105
106	This section covers only the basics of how to select additional components to complete the MES frame.
107
108	=== Accessories ===
109
110	The types of accessories to connect to the frame are at the discretion of the designer. Components can be added above the frame or below, and a universal mounting plate is included. The length of the landing gear was selected in order to accommodate both a battery below the center frame as well as a standard two axis gimbal. For three axis gimbals, note that the distance between the bottom of the center frame and the ground is ~_~_~_~_.
111
112	The Lynxmotion Servo Erector Set (SES) pattern has been incorporated into several positions on the frame. This pattern allows SES compatible hardware (brackets, C-channels and accessories) to be connected to the frame and used as universal mounting points. When mounting accessories, be check the center of gravity of the entire assembly and ensure it is at the very center of the drone. Should there be a weight imbalance, certain motors may need more power than others, and the flight characteristics may change significantly.
113
114	=== Battery ===
115
116	The MES frame supports using either one centrally mounted battery (below or above the main frame) or two batteries mounted on either the landing gear tubes or above the center plate. In a two battery configuration, we strongly recommend using identical batteries to ensure weight balance and uniform discharge. Note that both batteries should be fully charged before use, and your method of power distribution should support a two battery configuration. The battery is held in place by rubber foam and velcro straps, which supports a wide variety of different sizes. The battery's voltage should ideally match that of the BLDC motors selected, and the continuous discharge current rating ('C' rating) should be above the sum of the maximum current consumption of the motors used.
117
118	=== Motor, ESC, Propeller ===
119
120	In order to help determine the type and number of BLDC motors to use in a specific configuration, we propose following the steps below:
121
122	1. Calculate the total weight of the multirotor drone based on the desired configuration by adding the weight of all known parts (frame, flight controller, power distribution)
123	1. Add the total weight of any larger accessories such as a camera, gimbal system, video transmitter, heavier sensors etc. to the previous total.
124	1. Estimate the weight of unknown parts (motors, battery) and add it to the total:
125	11. Motor:
126	11. Battery:
127	11. The weight of the propellers, ESCs, receiver and lightweight sensors tend to have a minimal impact on the total.
128	1. Multiply the total weight obtained by two*, and divide this new value by the number of motors to be used. This will give you an estimate of the maximum thrust needed per motor + propeller combination
129	1. Select a motor + propeller combination which provides the thrust calculated in the previous step.
130	1. Adjust the total weight calculated in the first step using the weight of the motors to re-calculate the total thrust needed per motor.
131	1. Compare this new total to the maximum thrust which the motor can provide. If the motor's actual maximum thrust is less than around 90% of the thrust needed, find a new motor.
132
133	~* Multiplying the total weight of the drone by a factor of two is an estimate to provide sufficient thrust needed for basic aerial maneuvers and acceleration. For more acrobatic flight, this multiplication factor should be higher.
134
135	Should you wish to experiment with a wide variety of different configurations using a single type of motor, ESC and propeller, the following specs are suggested. Note that :
136
137	* Motor thrust:
138	* ESC:
139	* Propeller:
140	* Battery:
141
142	== Handheld Remote Control (RC) ==
143
144	The handheld remote control allows a human operator to control the drone remotely, and in the case of an autonomous drone, as a fail safe should the drone behave erratically. The minimum number of channels needed is four, with an additional channel often needed for each accessory / functionality. Many flight controllers require a full PWM range of 0.5ms to 2.5ms, which often requires that the remote control be configurable / programmable.