ELINVO (Electronics, Informatics, and Vocational Education), month year edition; vol(no):page

ISSN 2580-6424 (printed), ISSN 2477-2399 (online,) DOI: 10.21831/elinvo…

Design and Development of Unmanned Aerial Vehicles Hexacopter

Configuration to Support Carrying Heavy Payload for Environmental Research

Ulfah Mediaty Arief1, Pramudyo Wicaksono2, Indah Novi Yarman3

1Electronic Enginering Department, Universitas Negeri Semarang
E-mail: pramudyopram@gmail.com

ABSTRACT
Unmanned Aerial Vehicle is a flying robot technology innovation that is controlled using a remote control
or can be flown automatically. Currently, the use of flying robot technology is widely developed and popular in
many countries. In developing countries such as Indonesia, this technology is used as a search and monitoring tool,
land mapping, aerial videography, and rescue support tools. Previous research has proven that the use of UAVs
can increase the efficiency of human work. However, the design of the usefulness of UAVs is considered to be
limited. This limitation, for example, is that the UAV's lifting capacity is only capable of lifting 3-5 kilograms of
load on average. In addition, the main material of the UAV frame also uses carbon fiber produced by build-up
factories abroad, this makes the UAV design less economical. So there is a need for innovative development of
UAVs that can solve these problems and limitations and support the creation of technological benefits in an
increasingly developing and modern era.
This study discusses the development of the UAV's lifting capacity of 25 kilograms to be able to lift the
pesticide liquid load and considers the economic value. The hexacopter type multicopter UAV design was chosen
in this study, equipped with 6 main propulsion rotors capable of carrying out its main task of lifting heavy loads,
compared to the multicopter type of fewer than 6 rotors. The design is carried out by calculating the lifting force
and analyzing the strength structure of the frame material with the help of AutoDesk Inventor software.
The final result of the study was that the aluminum-based heavy-lift hexacopter drone was able to support
heavy loads, as evidenced by structural analysis simulations resulting in a safety factor value of 1.67 ul, equipped
with a 120KV rotor, 23x88 inch propeller, and 6S lipo battery 16,000 mAh 15kg drone flying for 19 years. minutes,
with an additional 10kg of load the drone can fly for 6 minutes. This research can be developed by adding a nozzle
or griper so that it can lift the pesticide spraying tank on a large enough agricultural land or as a carrier for parcels
of goods.

Keywords: UAV, hexacopter, heavy-lift, multifungtion drone

INTRODUCTION universities began to study, research and develop

these technologies [6].
UAV (Unmanned Aerial Vehicle) is a Flying robots or UAV (Unmanned Aerial
flying robot technology that can be controlled Vehicle) are categorized into two types or forms,
wirelessly using a remote control or run namely fixed-wing and multi-rotary. Fixed-
automatically with the help of sensors such as wings UAV is a type of winged aircraft [7]. To
GPS navigation and lock position that has been be able to fly required aileron wings on both
determined using a computer [1], this technology sides of the tip. In addition, in order for the
is becoming popular and widely used as a topic aircraft to be maneuverable, rudder wings and
of research [2] [3]. In the last two decades, elevators are needed. Meanwhile, the multi-
robotic technology has continued to develop and rotary UAV (multi-copter) is an aircraft powered
the deployment of both commercial and private by a rotor with propellers on each arm as a thrust
UAVs has revolutionized many ecosystems [4], to be able to fly or hover [8].
several researchers have developed flying robot UAV technology, especially the multi-
technology [5]. Not only the defense department, copter type, is an important part of every
including the automation industry sector and human's daily life to make work easier [9].
Interest in using multi-copter UAVs, also known
 Arief, U.M,.Wicaksosono, P., Yarman, IN. Design and Development of Unmanned Aerial Vehicle Hexacopter … 2

as drones in various applications, has grown which makes it difficult to control [17]. The
significantly in recent years [10]. The reason is lifting power of this UAV is purely obtained
related to technological advancements that from the rotation of the rotor and its movement
continue to develop, especially the emergence of is obtained from the torque of each rotor [18].
fast microprocessors, which support intelligent Because its main task is to lift heavier loads, the
autonomous control of multiple systems [11]. main choice for the design is a hexacopter or
The type of multi-copter is distinguished by the octocopter type multicopter, therefore to be able
number of rotors used, generally thirdcopter (3 to design a multicopter drone that is able to lift
propellers), quadcopter (4 propellers), more loads, this study chose a hexacopter type
hexacopter (6 propellers), and octocopter (8 multicopter, even though the multicopter type
propellers). octocopter has 8 the rotor will produce a greater
Drones have become a basic tool in tasks lifting power than the hexacopter type, but the
where humans have limited skills that prevent design of the octocopter type multicopter will
superlative time optimization [12]. The make the price high and uneconomical or
usefulness of drones is widely used to assist become more expensive due to the use of more
human work [13], [14] has proven by his motors.
research drones as unmanned aerial vehicles for The focus of this research is to design and
parcel delivery and fast food, the results show build a multi-purpose drone using a heavy-lift
that the peak hourly traffic density of express hexacopter configuration with more lifting
package and fast food delivery drones will power, as the main task is to carry heavier loads,
exceed the current global commercial air traffic an appropriate design is needed in selecting the
of 10,000 per day is more than six times for just multicopter configuration to be used. In
one potential metropolis. multicopter drone designs [19], [20] and [21]
Then what was done by [15] in his using the raw material for the manufacturing
research UAV quadcopter model was used for frame made of PVC or carbon fiber composite,
mapping land parcels, showing the results that the difficulty of getting these raw materials at the
this type of UAV was able to accelerate the local shop where this research was carried out
PTSL program with an accuracy level of 96%, a caused its own problems in this study, it is
plot of 1000 hectares of land could be done in necessary a replacement material for the drone
less than 5 days, but this is quite expensive. frame which has characteristics similar to the
While [16] conducted research on a manufacturer's material which is able to
hexacopter-type multicopter UAV to carry out withstand heavy loads, has economic value and
the task as an automatic pesticide sprayer on is easy to obtain.
agricultural land, this research provided
convenience for farmers in spraying pesticides in METHOD
addition to avoiding direct contact of human skin
with pesticide liquid that caused irritation, The research method used in the
equipped with 6 980KV rotors. The drone design development of the Hexacopter configuration
is also capable of carrying 2.5 liters of pesticide UAV to be able to lift heavy loads is the
liquid, able to fly for 1 minute 45 seconds and Research and Development or R&D research
spraying pesticide liquid automatically at an method, the method is a research model that aims
altitude of less than 320 cm. to develop an existing product for research to
The difference between the quadcopter analyze the level of need and then develop it to
and hexacopter type multi-copter lies in the produce a more efficient and tested products
ability to lift loads due to the addition of rotors, [22].
the more rotors used will cause its own problems In this research, there are several stages
when the drone is given a fairly heavy load that will be carried out. The first stage is
3 ELINVO (Electronics, Informatics, and Vocational Education), Month Year edition; Vol(No):page

identification of potential and problems, the The purpose of this research is to produce
second stage is needs analysis, the third stage is a product where the existing product belongs to
product design design, the fourth stage is the [21] [23] for the latest innovation to design a
manufacture or realization of products that have pesticide spraying hexacopter drone used on
been previously designed and the last stage is automatic agricultural land. The results of testing
product testing. Identification of potential and and analysis of the drone can fly for 1 minute 45
problems in previous research is used to find out seconds with a total weight of the drone being
various problems and design an existing product lifted 3 kilograms. Then the product is
and then develop it so as to produce a more researched and developed to be perfected, so that
efficient product. it can increase the work effectiveness of a drone
Then proceed with conducting a needs in lifting heavier loads. The product is a
analysis. The requirements analysis is derived hexacopter-type multicopter drone to be able to
from the analysis of the performance of the lift a liquid load of 10 kilograms.
developed system related to the requirements of
the system development components. The RESULTS AND DISCUSSION
design is done by designing a hexacopter drone
The design of the heavy-lift hexacopter
frame in 2D using the CoreDraw software and
drone begins with drawing a 2D sketch to
3D using the SketchUp Pro software. The next
determine the size and angle of work to be
design is realized at the design stage. Finally, to
worked on later. The dimensions of the heavy-
determine the effectiveness of the system used,
lift hexacopter drone are designed to have an arm
the system is tested. Figure 1 shows the stages of
length of 550mm for a motor to motor distance
research carried out for the development of
of 1404mm, while the main base is 350mm in
drones to be able to lift loads above 3 kilograms.
diameter, the angle between the arm and the
other arm is 60˚, and the diameter of the
propeller or propeller is 584mm as shown in
Figure 2.

Figure 2. Sketch 2D drone dimension size

Furthermore, modeling in 3D using the

help of sketchup pro software to be able to
project a hexacopter drone into 3D modeling can
be seen in Figure 3 below :

Figure 1. Fowchart of Research Development

 Arief, U.M,.Wicaksosono, P., Yarman, IN. Design and Development of Unmanned Aerial Vehicle Hexacopter … 4

Figure 6. ARM Design on Inventor

Then determine the fix point of the

Figure 3. Design 3D Drone ISO view support restraint in the form of a nut-bolt-ring
and the distributed force comes from the motor-
propeller pair then determine the point of force
experienced on the workpiece, in this simulation
the point is at the end of the pipe frame (motor
mount) given the magnitude of the thrust force
of 116.699 Newtons. This figure (thrust force 12
Kg) is obtained from the brushless motor specs
that have been selected, the loading table (remote
force).

Figure 4. Design 3D drone top view

Figure 7. Force point

Then it is simulated so as to produce data

in the form of von mises stress and total
displacement as shown in Figure 4.11 and Figure
4.12 as follows.
Figure 5. Design 3D drone side view

The frame on the heavylift hexacopter

drone arm is made of stainless steel T-6061,
strong, has lightweight characteristics, and is
inexpensive. After the drone frame is drawn and
assembled into a complete arm shape, the first
step in analyzing the structure on this hexacopter
arm is to import or enter the design of the object
diagram arm that was created earlier into the Figure 8. Von mises stress
AutoDesk Inventor software.
5 ELINVO (Electronics, Informatics, and Vocational Education), Month Year edition; Vol(No):page

The calculation results between the the safety factor is good. Shown the results of the
equivalent stress and strain used in the von analysis in Figure 10 below.
misses stress tool design. As in Figure 9 the
results can be seen with the orientation of the
colors and numbers listed with the maximum
stress occurring 168 Mpa and the minimum
stress being 0 Mpa.

Figure 10. Safety factor

Determination of lifting power on the

rotor is the most important thing in this design,
where the rotor is the main component of the
drone to be able to lift loads, especially in its
Figure 9. Displacement total main task as lifting heavy loads of 10 kilograms.
The selection of electronic components such as
The result of the static structure analysis flight control, esc, rotor, battery, receiver, power
of deformation or displacement is the total result distributor is also considered so as not to increase
of the formation in the modeling. The simulation the weight of the drone later.
shows that the largest total formation is at the In this design using flight control Naza M
end of the arm (motor mounting) 0.186521 mm V2, revicer X8R, lipo battery with a voltage of
and the smallest total formation is at the support 24 volt 12S with a capacity of 16,000 mAh and
plate frame, which is 0 mm. illustrated in Figure a water tank with a capacity of 10 kilograms of
9. liquid. From these components, a table of the
Factory safety or safety factor is one of the total weight of the drone is obtained.
most important parameter values to determine
Table 1. Material requirement
whether the design construction made is feasible
No. Component Wight (g)
or not. Safety Factory is a comparison between
1. Flight Control 80.5
the permissible voltage and the actual voltage 2. Battery 3980
that occurs. Construction materials are declared Power
3. 116.4
safe if the safety value is above 1.5 ul [21][24] Distributor
[25]. 4. GPS 52.6
5. Receiver 8.5
𝑌𝑖𝑒𝑙𝑑 𝑆𝑡𝑟𝑒𝑛𝑔𝑡ℎ 6. Tank 400
𝐹𝑆 = (1) 7. ESC 1209
𝑇𝑒𝑔𝑎𝑛𝑔𝑎𝑛 𝑉𝑜𝑛 𝑀𝑖𝑠𝑒𝑠
8. Propeller 746
275 𝑀𝑝𝑎 9. Rotor 4865
𝐹𝑆 = = 1.697 𝑢𝑙 (2)
168 𝑀𝑝𝑎 10 Drone Frame 3500

The results of the simulation of the design By knowing the total weight of the drone
comparison of the permissible voltage with the is 15.0 36.7 grams, the thrust for each motor is
actual stress obtained a minimum result of 1,697 determined as follows:
ul, above the standard of 1.5, so it can be
𝑏𝑒𝑟𝑎𝑡 𝑘𝑒𝑏𝑢𝑡𝑢ℎ𝑎𝑛 𝑥 2
concluded that the design of the drone arm using 𝑇ℎ𝑟𝑢𝑠𝑡 = (3)
𝑗𝑢𝑚𝑙𝑎ℎ 𝑟𝑜𝑡𝑜𝑟
2mm thick aluminum material is suitable or
aluminum material can withstand the load and 15.036
𝐹𝑆 = = 5.012 𝑔𝑟𝑎𝑚 (4)
6
 Arief, U.M,.Wicaksosono, P., Yarman, IN. Design and Development of Unmanned Aerial Vehicle Hexacopter … 6

Based on the above calculation, each The heavylift hexacopter drone was then
motor must produce a thrust of 5,012.23 grams tested and obtained the results of the ability of
with the assumption that all motors have the each rotor to lift a load of 1 to 10 kilograms per
same thrust. The motor and the type of propeller one trial, the connectivity of the remote control
used in this research are HobbyWings Xrotor X6 range was also tested in this study to obtain how
120KV and Propeller with a diameter of 584mm far the remote control communication with the
or 23inch. receiver on the drone is, the following is a test
By looking at the datasheet on the table remote control connectivity distance.
HoobyWings Xrotor X6 120KV motor user Table 2. Connectivity Distance
manual, the maximum thrust (maximum thrust)
DISTANCE
is 11,900 kilograms and the recommended load No. POINT CONDITION
(M)
is 3 to 5 kilograms per axis, from the calculation 1 A 220 Take-Off
of the weight and load lifted by the drone if the 2 B 390 Take-Off
frame is heavy. of 15,036.7 grams plus the load 3 C 535 Take-Off
4 D 645 Take-Off
carried by 10,000 grams, the total drone is Can’t Take-
25,036.700 grams, from the total calculation of 5 E 748
Off
the overall load, the motor is able to lift the load
and the drone can hover or fly. The drone's flight distance that can be controlled
In holding the realization of the design, by remote control is the widest around 650 to
the results of the heavylift hexacopter drone 700 square meters with tree and building
design are as follows: barriers. The results of this test are influenced by
the object of the transmitter signal barrier in the
area, the fewer obstacles experienced by the
transmitter, the wider the range that can be
controlled by the remote control. The position
point and status of the remote control signal can
be seen in Figure 13.

Figure 11. drone design results

Figure 13. Mapping distance remote control

Furthermore, testing the drone travel time

without carrying a water tank load. The flight
time test was carried out to determine the level
of battery endurance or travel time when flying
without a load or with a varied load, equipped
with a Lipo battery type Tattu 12S 24Volt with a
capacity of 16,000 mAh, the longest flight time
produced was 19 minutes with a remaining
Figure 12. component layout battery of 8% , if on average the drone can fly
without carrying a load for 18 minutes. Here's a
7 ELINVO (Electronics, Informatics, and Vocational Education), Month Year edition; Vol(No):page

test table for the drone's travel time when it's not
carrying a load.
Table 3. No Load test
Heavy Remaining
Test Long Fly
(kg) Battery
1 15 16% 18:22
2 15 18% 17:51
3 15 15% 18:18
4 15 22% 17:05
5 15 8% 19:09
Figure 15. Drone charged 5 kilograms
Then in testing the hexacopter drone's
load-bearing capacity by loading liquid water on
the tank, starting with filling the tank capacity of
1 kilogram then each sequence adding 1 liter/1
kilogram of liquid water until it reaches the full
capacity of the water tank of 10 kilograms / 10
liters, the following table of results testing the
duration of flying drones with varied loads.
Table 4. Load test
Heavy Remaining Figure 16. Drone charged 10 kilograms
Test Long Fly
(kg) Battery
1 16 15% 16:21 With the addition of a varied load starting
2 17 16% 15:09
3 18 15% 13:94
from 1 kilogram/liter the drone can fly for 16
4 19 15% 12:85 minutes 21 seconds, at the peak of the loading of
5 20 14% 11:74 9 kilograms/liter the drone is able to fly for 7
6 21 16% 10:61 minutes 25 seconds. However, when the dorne
7 22 17% 9:49
8 23 15% 8:37 hexacopter was charged with a tank filled with
9 24 15% 7:25 10 liters of water, the drone was only able to fly
10 25 79% 2:13 for 2 minutes 13 seconds due to a system failure
11 26 - FAIL that caused the rotor to catch fire and burn. The
length of time a drone can fly depends on the
capacity it carries, the greater the load capacity it
carries, the shorter the drone's flying time.

CONCLUSION

Based on the results of testing and

analysis on the design of a multipurpose drone
using a heavy-lift hexacopter configuration
with an overloaded lift that the researchers
have done, it can be concluded that:
Unmanned Aerial Vehicle is a flying
robot technology innovation that is controlled
Figure 14. Drone charged 1 kilogram using a remote control or can be flown
automatically. The use of UAVs can increase
the efficiency of human work. However, the
 Arief, U.M,.Wicaksosono, P., Yarman, IN. Design and Development of Unmanned Aerial Vehicle Hexacopter … 8

design of the usefulness of UAVs is kilograms of drones can fly for 7 minutes 22
considered to be limited. This limitation, for seconds with a remaining battery of 15% of
example, is that the UAV's lifting capacity is capacity, the ability of the travel time
only capable of lifting 3-5 kilograms of load produced by the drone depends on how heavy
on average. In addition, the main material of the load is and also the remaining percentage
the UAV frame also uses carbon fiber of the battery is discharged.
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