Design and Aerodynamic Modeling of MetaMorpher: A Hybrid Rotary andFixed-Wing Morphing UAV

TL;DR

This paper introduces a nonlinear mathematical model and design for the MetaMorpher, a metamorphic UAV capable of vertical takeoff and fixed-wing flight, with a modular wing structure and validated in Simulink.

Contribution

It presents a comprehensive nonlinear flight dynamics model and a novel mechanical design for a metamorphic UAV with modular wings and versatile flight modes.

Findings

Model behaves predictably under various configurations

Validated in Simulink environment

Demonstrates reliability for rapid design evaluation

Abstract

In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing agility and fixed-wing cruising efficiency. Building on the successful design of the spincopter platform, this work introduces a simplified mechanical architecture using lightweight materials and a novel wing-folding strategy. Unlike traditional rigid-body approximations, we derive a nonlinear flight dynamics model that enables arbitrary force distributions across a segmented wing structure. This modularity allows for testing different airfoils, mass distributions, and chord lengths in a single environment. As part of this work, various flight modes were specifically tested and analyzed in the Simulink environment. The results show that the model behaves predictably under different structural configurations, demonstrating its reliability as a tool for rapid design evaluation.