Design And Fabrication Of Radio Controlled Para-Motor Base Parachute System

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DESIGN AND FABRICATION OF RADIO CONTROLLED PARA-MOTOR BASED
PARACHUTE SYSTEM
Capstone Project
Submitted in Fulfillment of the
Requirement for Award of the Degree
Of
BACHELOR OF TECHNOLOGY
In
MECHANICAL ENGINEERING
By
MOHAMMED ATIF KHAN (11406534)
P KAVYA PRIYA DARSHANI (11403285)
PANKAJ DAWANDE (11406331)
PAWAN PANSE (11406328)
Under the Guidance of
Mr. Akash Gupta
UID- 19350
DEPARTMENT OF MECHANICAL ENGINEERING
LOVELY PROFESSIONAL UNIVERSITY
PHAGWARA, PUNJAB (INDIA) -144402
2017-18

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Lovely Professional University Jalandhar, Punjab
CERTIFICATE
I hereby certify that the work which is being presented in the capstone entitled “DESIGN
AND FABRICATION OF RADIO CONTROLLED PARA-MOTOR BASED
PARACHUTE SYSTEM” in partial fulfillment of the requirement for the award of degree of
Bachelor of Technology and submitted in Department of Mechanical Engineering, Lovely
Professional University, Punjab is an authentic record of my own work carried out during
period of Capstone under the supervision of Mr. Akash Gupta, UID-19350 of Mechanical
Engineering, Lovely Professional University, Punjab.
The matter presented in this capstone has not been submitted by me anywhere for the award of
any other degree or to any other institute. .
Date Mohammed Atif Khan (11406534)
P Kavya Priya Darshani (11403285)
Pankaj Dawande (11406331)
Pawan Panse (11406328)
This is to certify that the above statement made by the candidate is correct to best of my
knowledge.
Date: (Mr. Akash Gupta)
Supervisor
The B- Tech capstone examination of ABC, has been held on _____________
Signature of Examiner

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ACKNOWLEDGEMENT
We feel very much honored in presenting this capstone report in such an authenticable form of
sheer endurance and continual efforts of inspiring excellence from various cooperation and
sincere efforts drawn from all sources of knowledge. We express our sincere gratitude to my
guide, “Mr. Akash Gupta” Assistant Professor, Department of Mechanical Engineering, Lovely
Professional University, Punjab, for his valuable guidance and infilling support for the
completion of the capstone project.
We are also grateful to all others faculty members and staffs of Department of Mechanical
Engineering, Lovely Professional University, Punjab.
We extend our thanks to all our classmates and research scholars who have given their full
cooperation and valuable suggestion for fulfillment of my capstone project.
Date:
Place:
Mohammed Atif Khan (11406534)
P Kavya Priya Darshani (11403285)
Pankaj Dawande (11406331)
Pawan Panse (11406328)

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ABSTRACT
The Para-motor based Parachute system is an improvised version of a manually contolled
Parachute. It is operated aerodynamically with the combination of servo motors, dc motor,
propeller, Li battery, radio frequency remote controlled system, nilon based Parachute which will
be operated by Parachute ropes. In this Parachute, we are replacing the manual operator with a
radio frequency remote control and a DC motor.This innovation will not only reduce human
effort but also can be used as an aircraft for various purposes.
EQUIPMENTS USED
• DC motor
• GI sheets
• Li battery
• 2 Servo motors
• Propeller
• Propeller casing
• Ropes
• Nylon based fabric for Parachute.

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TABLE OF CONTENT
1. Introduction 7-10
➢ Introduction of parafoil
➢ Introduction of propeller
2. Literature review 11-12
3. Scope of study 13-13
4. Research methodology 14-14
5. Work plan and time line 15-15
6. Fabrication of paramotor based parachute 16-21
➢ Chassis design
➢ Frame design
➢ Ergonomics consideration
➢ Chassis Final design
➢ Drag
7. Tyre selection criteria 22-22
8. Material selection 23-24
9. Part description 25-40
➢ DC motor
➢ Litium ion battery
➢ Propeller
➢ Radio frequency remote control
➢ Battery elimination circuit
➢ Ropes
➢ Nylon based parafoil
➢ Servo motor

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10. Force analysis 41-44
➢ Force acting
➢ Calculating thrust force
➢ Drag equation
11. Material specification & Cost report 45-45
12. Conclusion 46-46
13. Reference 47-47

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1 INTRODUCTION
______________________________________________________________________________
The Para-motor based Parachute is a system where the manual operator is replaced by a DC
motor and a radio frequency remote control. The DC motor of RPM about 4000-5000 takes
power from the Li battery and rotates the propeller. Due to which the air fills the nylon canopy
and hence the Parachute starts to move forward while rising up from the ground. There are two
servo motors used in this system. One of them is to control the RPM of the DC motor while the
other is used to operate the ropes that help in changing the direction of the canopy so as to
determine the which direction in which it has to move. Both the servo motor are connected to the
Radio Frequency remote control which is primarily responsible for the Parachute to operate.
A Para-motor Parachute generally consists of an upper and a lower hull part, which are
connected by internal ribs in flight direction. They form a kind of channel for the air to float
through the glider giving it its final wing-like shape and consisting of two layers of fabric; these
are connected and supported by a number of ribs creating a row of narrow cells. The cells are left
open at the leading edge so that air keeps coming in and inflates the wing which can thus reach
its characteristic double-curved geometric shape. The wing's cross-section assumes a teardrop
airfoil shape. Para-motor Parachute wings typically consist of non-porous materials such as rip
stop polyester which prove especially resistant to tearing and stretching. Lines (ropes) leading
from the glider down to the pilot allow to steer and control the glider through change of position
and shift of weight of the pilot’s body. All in all this construction is rather fragile and its shape
depends very much on wind and streaming conditions as well as the pilot’s weight, position and
attitude relative to the Para-motor Parachute. The evaluation of complex shapes is one of the
regular tasks in photogrammetry. In this case study the task was to acquire the shape of a Para-
motor Parachute. It consists just of a very thin piece of fabric that gets its geometric shape only
when air is streaming through the numerous chambers of the glider and this is merely the case
when it is in motion that is when it is flying in the air. The shape is greatly affected by wind and
local gusts which makes it a fairly time-critical task. This means that it is either possible to
capture the shape simultaneously from different camera positions or to find a situation for the
glider in which it does not or at least not significantly change its form.

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Figure 1 Para-motor Parachute system
1.1 INTRODUCTION OF PARA-FOIL
A Para-foil of a Para-motor Parachute is the integral part of its aerodynamic system. It is
basically made of non rigid material nylon. The air inflation forces the Para-foil into a classic
wing structure.
A hybrid balloon kite aerial platform for carrying scientific instruments was developed by Jalbert
who had a history of designing kites. He was successful in discovering a drag canopy type
structure which was more effective then he round canopy. It was safe and efficient
aerodynamically.
The problem with the round canopy was its deflation during landing the air flow is more from
the bottom as compared to the path desired. Therefore, the front ropes are an obstruction to the
air flow as a result of which, the ropes are getting towed. The angle of attack is lowered therefore
the canopy deflates during landing whereas in the case of drag canopy this problem is omitted.

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Figure 2 Para-foil of the Para-motor Parachute
1.2 INTRODUCTION OF PROPELLER
The propeller used in the Para-motor Parachute transmits power by converting rotational motion
into thrust .There is a difference of pressure created between the forward and rear surfaces of the
air foil shaped blade and the air is accelerated behind the blade. The propeller dynamics of the
Para-motor Parachute is determined by newton’s third law and Bernoulli’s theorem.

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Figure 3 Propeller used in the system
Theory of operation :
The ideal efficiency of the propeller used depends on the actuator discs in the air. The
formulations used for calculating the forces acting on the foil are:
The factors that determine the forces experienced are area (A), fluid density ( ρ), velocity (V)
and the angle of attack(α) where:
There are two types of forces that act on the discs of the propeller, one is the force that acts
perpendicular to the flow which is called lift (L) and the other which acts normal to the direction
of the flow is called the drag (D).
And
Where L and D are drag coefficients respectively.

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2 LITERATURE REVIEW
_____________________________________________________________________________
SR. NO Title of Project NAME OF AUTHOR CONCLUSION
1
Different applications
of powered Para-
motor Parachute
(Para-motor) in
military and police
service, search and
rescue operations
STEVAN JOVIČIĆ
SAŠA TIRNANIĆ
ZORAN ILIĆ
NENKO BRKLJAČ
MILUTIN
JANKOVIĆ
Paper elaborates on an
appliance of what
might be considered
the successful,
portable and
inexpensive
motorized aircraft
2
Powered Parachute
Flying Handbook
U.S. Department of
Transportation
Federal Aviation
Administration
Complete working
model as well as the
detailed description of
a Para-motor based
Parachute
3 Working of a Para-
motor based
Parachute with safety
DNEWS Powered Paragliding
is not without risk, but
is considered to be
relatively safe in the
world of adventure
sports
4
Evaluating the
geometric shape of a
flying Parachute
Klaus Hanke, Stefan
Schenk
Photogrammetric
approach to find the
geometric shape of a
Para-motor Parachute.
As its geometry is
only available
during the flight this
had to be done under
special conditions

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5 Flight Tests of an
Unmanned Powered
Parachute: A
Validation Tool for
GN&C Algorithms
Donald T. Ward,
Thomas C. Pollock,
and David W. Lund
Validate wind
alignment and
estimation
performance attained
by the guidance
algorithms
6 Para-motor Parachute
as a sport
Lake wales With the aid of
powered Para-motor
Parachute,
experiencing
adventure and
exploring the world
7 The powered
Parachute as an
archaeological
aerial
reconnaissance
vehicle
Tommy lke Hailey
A type of ultralight
aircraft, as an
archaeological aerial
reconnaissance
vehicle. The suitable
performance of the
aircraft during flight
was the first
consideration, and an
assessment of drift,
in-flight stability and
altitude stability of the
PPC proved
satisfactory.

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3 SCOPE OF STUDY
______________________________________________________________________________
• The system is comprised of feedback compensated control laws for both heading and altitude
tracking, and an elementary path planning logic that allows for waypoint navigation.
• Surveillance :
For keeping an eye on every movement of people and well established sectors which is
Banks , Museums.
• Rescue operations :
In occurrence of any non-expected emergency, human life comes in danger, so Para-motor
Parachute will help in rescuing people from a place.
• Tourism :
Non trained people who want to explore adventure of Paragliding.
• Disaster management :
In occurrence of any natural calamity Para-motor Parachute will help in rescuing people to
safer areas, and also to deliver food and water in affected areas.
• Military:
Military can use Para-motor Parachute to keep an eye on an enemy from sky.

14Fig 2.1 Flow Chart of Design Methodology
4 RESEARCH METHODOLOGY (SYSTEM FLOWCHART AND
LOGICAL DIAGRAM)
Our department went down through numerous methods to produce a design concept to build a
prototype of the chassis which is depicted as flowchart mentioned below.

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6 FABRICATION OF PARAMOTOR BASED PARACHUTE
_____________________________________________________________________________
6.1 CHASSIS DESIGN
The main design of the chassis is focused on making the total weight of the whole model as light
as possible without hampering the structural integrity of the chassis. To accomplish that, the area
moment of inertia has been increased. For a Para-motor Parachute to have lift the battery is
placed in the front of the chassis and the back portion of the model is also designed in such a way
that it balanced during the time of both lift as well as drag.
Figure 4 Chassis design of a Para-motor based Parachute

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6.2 FRAME DESIGN
The safety, reliability, performance and strength of the Parachute is determined by the type of the
material used in the frame. A thorough research was conducted and the densities as well as the
stiffness and strength of the materials were calculated and compared. The best and lightest
material was selected for the construction of the frame. In order for the Parachute to have lift and
have a smooth flight and landing it was very important for us to maintain balancing and the for
the weight to be equally distributed.
Figure 5 Frame Design
6.3 ERGONOMICS CONSIDERATION
Definition - Sitting is a body position in which the weight of the body is transferred to a
supporting area mainly by the ischia tuberosity of the pelvis and their surrounding soft tissue.
Purpose - To remove weight from the feet and maintain a stable posture so muscles not directly
involved with the work can relax.
Figure 6 Ergonomics consideration
If we consider a person sitting and operating the Parachute then the radio frequency remote
control will be in his hand. And the ergonomics should be maintained n such a way that the
person is comfortable in sitting and leaning backward and forward.

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6.4 CHASSIS FINAL DESIGN
After making of several designs and analyzing those using different tecniques we finally came
out with best design of the frame which can sustain different kinds of loads with minimum stress.
Para-motor design should be aerodynamically stable and chassis should be a perfect frame as per
the equation
n = 2 j - 3
where,
n = number of members in chassis frame
j = number of joints in chassis frame
n = 2(8)-3
n = 13
In every structures mass (m) plays a very important role and in given project we are restricted
to the weight so the total weight of the frame should not exceed 1.5 kg.
➢ Mass can be calculated by the formulae
ρ = m / v
m = ρ * v
Where,
m = mass of the body
ρ = density of the material
v = volume of part
Sections in design:
As full chassis body is made with the material Al
• Base link
➢ Selection of base material Al
ρ = 2700 kg/m³
V =.0068 m * .254 m * .0762 m = .000131 m³
m = 64 gm

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Figure 7 Front view of the solid works model
Figure 8 Isometric view in solid works

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Figure 9 Rear view in solid works
Figure 10 Side view in solid works

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6.5 DRAG
The force on an object that resists its motion through a fluid is called drag. When the fluid is a
liquid like water it is called hydrodynamic drag (but never "water resistance").When the fluid is a
gas like air, it is called aerodynamic drag (or air resistance).
Figure 11 Drag of a Para-foil
Fluids are characterized by their ability to flow. In somewhat technical language, a fluid is any
material that can't resist a shear force for any appreciable length of time. This makes them hard
to hold but easy to pour, stir, and spread. Fluids are polite in a sense. They yield their space
relatively easy to other material things at least when compared to solids. A fluid will get out of
your way if you ask it. A solid has to be told with destructive force.
Material things resist changes in their velocity (this is what it means to have mass) and no two
material things may occupy the same space at the same time (this is what it means to have
volume).Fluids may not be solid, but they are most certainly material. The essential property of
being material is to have both mass and volume. The portion of the drag force that is due to the
inertia of the fluid — the resistance that it has to being pushed aside, is called the pressure drag.
This is usually what happens to the Para motor Parachute when subjected to flying.

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7 TYRE SELECTION CRITERIA
_____________________________________________________________________________
The requirements from the tyre are contradictory but we have selected cross ply because of low
price and greater sidewall stiffness. We have considered high cornering stiffness and greater
sidewall stiffness for better braking. Under braking there would least possible compression in the
tire sidewall and will prevent further Parachute dive other than that of the suspension. Owing to
the requirements best suited will be a tire with bias ply, moderately spaced treads but with
shoulder knobs preferably till half-length of sidewall.
Figure 12 Tyre of the system
Under landing there would be lesser compression in the sidewall and there will be minimal
contribution to vehicle squat and help the vehicle land safely. Tire width should be kept
moderate because very large tire width would affect the handling adversely and cause unbalance
during landing of the Parachute.
7.1 DESIGN MODELLING AND ANALYSIS
After the design were finalized and conceptualized we started modelling each and every part i.e.
propeller, shafts, tyres, DC motor, battery, servo motors and final assembly was done. Later
analysis was performed for stress generated, bearing load over Casing of the frame of the Para-
motor and the reaction forces on the shaft. The design was further optimized to get the satisfying
results.

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8 MATERIAL SELECTION
The material selection was made accordingly to the strength requirement, less weight and
availability of the material around nearby cities to reduce the cost factor.The material used in the
Para-motor Parachute is light so that there will be a balance in maintaining the centre of gravity
of the Para-motor Parachute. The material used in making the frame is aluminium because of its
high strength and less weight. Whereas the material used in propeller is of plastic which is the
lightest material that can be used in making the propeller and its casing.
Selection of material for frame development Our major aim was in this particular project was to
design, develop and fabricate a Para motor and Parachute but there were some restrictions that
the Para motor frame’s weight should not exceed 1.3 Kg Para motor can lift weight up to 5 kg
weight and can afford 50 N impact force as we know that impact force is generally ten times of
paying load. To design a light weight frame, material selection plays an important role because
there are huge no. of materials with different- different characteristics are available. For the
selection of light weight material density should be compared, the material having low density
acquires low weight and is preferable for the frame fabrication but there are some other
conditions i.e. material should have high load carrying capacity and can wear high impact forces.
Here we have considered a few materials due to their respective properties

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Nylon fabric [ Parachute material ]
Mild steel [nuts, bolts and washers]
Aluminium [ material of chassis frame]
Density(kg/m³) 7710
Specific Gravity 7.8
Tensile Strength 420 Mpa
Yield strength 370 Mpa
Strain 0.002
Yield strength 527 Mpa
Strain 0.047
Yield strength 48.3 Mpa
Strain 0.1

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9 PART DESCRIPTION
______________________________________________________________________________
9.1 DC MOTOR
A DC motor in simple words is a device that converts electrical energy (direct current system)
into mechanical energy. To understand the operating principle of DC motor we need to first look
into its constructional feature. The very basic construction of a DC motor contains a current
carrying armature which is connected to the supply end through commutator segments and
brushes. The armature is placed in between north south poles of a permanent or an
electromagnet. As soon as we supply direct current in the armature, a mechanical force acts on it
due to electromagnetic effect of the magnet. Now to go into the details of the operating principle
of a DC motor it’s important that we have a clear understanding of Fleming’s left hand rule to
determine the direction of force acting on the armature conductors of DC motor. The DC motor
used is a brushless DC motor that is connected to the propeller.
Figure 13 Brushed and brushless DC motors
Scorpion SII-2208-1100 V2 Brushless Motor
Scorpion Competition Series Brushless Motors are built from the best materials available, and
are designed to provide both quality and performance at an affordable price. The new SII-22
series motors are an updated and improved version of the popular S22 motors that have been so
successful. This V2 motor replaces the V1 S-2208-34. Max Continuous Power 130 Watts. Max
Continuous Current 12 Amps, 1100 Kv. Scorpion 2208-1100 V2 Brushless Outrunner Motor.
The new SII-22mm motors have been designed to replace the original S-22mm motors that were

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introduced in January of 2007. These new motors include several design improvements that
make them more powerful and more efficient than the original S-22mm series.
The design improvements include:
1. New cooling fan design that works equally well in either direction of rotation.
2. New stator design to concentrate the magnetic fields at the pole faces.
3. New stator plate alloy to increase efficiency and reduce heat losses.
4. New flux ring alloy to contain more of the magnetic field within the motor.
5. The higher efficiency of the motor naturally lowers the Kv of the motor, so to get the Kv back
up, fewer turns of heavier gauge wire are used. This lowers the internal resistance (Rm) of the
motor and increases the current handling ability.
Figure 14 Scorpion SII-2205 DC motor
Scorpion SII-2205 motors come with 3.5mm male bullet connectors already soldered on to the
motor leads, and also include 3 matching female bullet connectors for your speed controller,
along with a cross style motor mount with 4 mounting screws, a threaded shaft style prop adapter
and also a prop saver class type prop adapter with the internal O-Rings attached provisionally.
All Scorpion motors are built to exacting tolerances on state of the art CNC machines for the
highest level of fit and finish. The stators are all hand-wound to insure the highest copper fill rate
and high voltage tested to insure that no shorts are present. All the metal motor parts are electro-
coated in a beautiful black and gold finish so the motors look as good as they perform. To top off
the high quality fit and finish of these motors, Scorpion backs them with a 2-year warranty
against defects in materials and workmanship. (Due to the nature of ball bearings, and the fact
that they can be easily damaged by prop strikes or by getting dirt in them, the ball bearings are
not covered under the two-year warranty).
Included in the Box

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1 x Scorpion SII-2208-1100KV Motor1 x Scorpion 22mm Cross Mount1 x Scorpion 3mm
Threaded Prop Adapter3 x Female Connectors
3 x Heat Shrink
4 x M3 Screws
9.2 Li-Ion BATTERY
Lithium-Ion battery works in similar to normal batteries. Principle is the same as exchange ions
and flow of electrons. There is an Anode and Cathode in a Lithium Ion battery. At present
Graphite (Carbon Material) is used as Anode. The reason behind the use of Graphite can be
explained due to its internal structure. While charging, Lithium-ion (Positive charge) move from
Lithium based Cathode to Anode through the Electrolyte. At Anode, the Ions place themselves
between two Graphite layers. Blue ones are the Lithium Ions and Black ones are carbon atoms.
There is no chemical reaction that takes place at Anode. During discharge process, electrons flow
through the external circuit to the device and back to the Cathode (Layered Oxide) e.g. Lithium
Nickel Cobalt Aluminium Oxide, Lithium Iron Phosphate, Lithium Cobalt Oxide). Positive
Lithium Ions move from Anode to Cathode via Electrolyte. Again there is no chemical reaction
that takes place at Cathode.

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Figure 15 battery charging and discharging
9.3 SPECIFICATIONS:
• RC Lithium polymer battery 11.1v 2650mah 30c
• Nominal Voltage: 11.1v
• Capacity: 2650mAh
• Cont. discharge rate: 20c
• Cont. Discharge Current: 53A
• Peak Discharge Current: 66
• Max Charge Current 4A
• Size (L x W x T) mm: 138 x45 x20Approx
• Weight (g): 230g
• Charging temperature: 0 C ~ +45 C
• Operating temperature range: -10 C ~ +80 C
• Grayson Hobby: 30Amp

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Brushless Speed Controller (ESC) [GH30A-ESC]
Technical data
• Weight: 21.9 grams / 0.77 oz.
• Use with ni-cd, ni-mh, li-ion, and li-poly batteries
• Size: 32 x 24 x 9 mm
• Auto throttle calibration
• Auto cell detect!!! Bec: 3 amp (suggested use --> 2 li-poly=4 servos, 3 li-poly =3
servos)
• Timing: auto
• High rate switching: 8khz
• Auto voltage cutoff set at 3.0v a cell li-poly 0.8 nicd/nimh
• Brake: programmable on
• Max rpm: 40,000 rpm with 14 pole motor
• Auto shut down when signal is lost
9.4 PROPELLER
A propeller is a type of fan that transmits power by converting rotational motion into thrust. A
pressure difference is produced between the forward and rear surfaces of the air foil-shaped
blade, and the air is accelerated behind the blade. Propeller dynamics, like those of aircraft
wings, can be modelled by either or both Bernoulli’s principle and Newton's third law. It
comprises a rotating power-driven hub, to which are attached several radial air foil-section
blades such that the whole assembly rotates about a longitudinal axis. The blade-pitch may be
fixed, manually variable to a few set positions, or of the automatically-variable "constant-speed"
type.The propeller attaches to the power source's driveshaft either directly or, especially on
larger designs, through reduction gearing.
Propeller
Specifications
Model: LP 10010
Dimensions: 10 cm x 10 cm
Material: Steel

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Features
- Steel Propeller
- Suitable GP & EP
Figure 16 propeller
9.5 RADIO FREQUENCY REMOTE CONTROLLER
A radio frequency remote control is an electronic device which is used to operate the Para-motor
Parachute. It sends signals using electromagnetic waves and one of them is the radio waves.
9.5.1 Fly Sky FS-TH9X 9Ch Transmitter
The 2.4 GHz 9Channel transmitter model FS-TH9X from the manufacture of Corona and Assan
is used in the system for transmission of control signals. This transmitter offers 9 channels of
which only 5 channels are used. This was carried out to enable upgrading the current system to
higher controlled features in the future research. The Fly Sky FS-TH9X is offered under various
brand names but it is basically the same transmitter. One major thing to note is that the amount
of channels will vary depending on whether you use PPM or PCM. Switching to PPM reduces
the number of available channels to only 8. The actual layout of the transmitter is best for
operating convenience; there is a vast array of switches for selecting rates, gear, trainer-mode,
flight modes, etc. These are complimented by three knobs which serve for flaps, hover, pitch,

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etc. The Fly Sky FS-TH9X is modular system, so specifications may vary depending on the
module selected. The transmitter is loaded with features, which will usually be found only on
some high end transmitters.
• Number of Channels: 8ch PPM/9ch PCM
• Display: 128*64 LCD
• Support Type: Heli/Acro/Glid
• User Models: 8 Stick Modes: 4
• Encoder Type: PPM/PCM
• Sub Trim: Yes
• Simulator Interface: Yes
• Buzzer: Yes
• Low Voltage Display: Yes
The menus are clearly and easy to navigate using the 128×64 pixel LCD display. The only issue
was that the +/- buttons are back to front with the positive on the left. An LCD backlight placed
on top of the transmitter offers perfect legibility in all conditions of illumination and wide
angle surveillance .Duplex 2,4 GHz - for flight control and receiving s data telemetry model
to the transmitter, the ds 14 takes advantage of the wireless system 2.4 GHz Duplex . The 2.4
GHz Duplex data transfer system is very reliable and has been verified over many years.
9.5.2 Setup
The package included the transmitter and transmitter module but no receivers. The setup is
extremely easy. Simply bind the receiver to the transmitter by putting the bind plug in the
receiver and powering on the transmitter while holding in the bind button. All the receivers
bought were bound without any problems. Once bound the receiver to the radio, it’s time to
program the radio to suit the model. Careful attention is paid to servo reversing and also the
transmitter’s mode selection.
9.5.3 Flight Testing
The transmitter exhibited excellent performance. Our model was able to fly the very limits of
human vision without any glitches. On an initial test, the transmitter was checked for
controllability and then the secondary test was conducted to test the range of transmitter. The
transmitter could take it out about 300 meters on the second round test and it reached almost 400
meters before it became difficult to tell the orientation of the model at such heights.

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9.5.4 Positives
• Affordable
• Easy to Program
• Module Flexibility
9.5.5 Negatives
• No Failsafe
• Only 8 Model Memories
• Quality Control Issues
As said earlier, the Fly Sky FS-TH9X is available under various brands, IMAX, Turnigy, Eurgle
etc. Hobby King’s Turnigy 9X is now in its 3rd revision..

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9.6 BATTERY ELIMINATION CIRCUIT (BEC)
The Propeller Installation the propeller is fixed to the motor on the shaft, which rests on the
fuselage at the crevice provided at the front of the fuselage. This actually is being mounted using
the x-mount supplied by the motor manufacturer along purchase. The x-mount holds the motor
body firmly along with the fuselage by means of four screws. The Picture shows in detail how
the motor and propeller is fixed. The propeller is held firmly by means of the knob-cap in the
shape of a bullet. Battery Elimination Circuit (BEC).This Electronic Speed Controller (ESC)
contains a Battery Elimination Circuit (BEC) which may be used to power your receiver and
servos under certain conditions. This will allow you to eliminate the separate on-board radio
battery pack, and reduce the weight of your aircraft. The BEC may not be used simultaneously
with and onboard radio battery pack. You must use one or the other, but not both. Up to 4 servos
can be used when the voltage is 7.4V or less. With 11.1V or above, only 3 servos can be used. If
you are not using the BEC function, you must clip the red (+) wire on the ESC receiver lead.
Figure 17 ESC 30A
Cut-off Voltage:
− Cutoff voltages are auto-set
− 6V/2Lipo
− 9V/3lipo
− 0.8V per unit for NiMh selection
To Enter Programming Mode:
1. Connect the motor and receiver to the ESC.
2. Remove battery power from the ESC.
3. Set the throttle stick to full power and then turn on the transmitter.
4. Reconnect battery power to the ESC.
5. If you are using a seParate receiver batter y pack instead of using the BEC, connect the
receiver battery pack and turn it on.

35
6. Secure the airplane and stay clear of the propeller.
7. A sequence of one to three beeps will be followed.
8. The table below summarizes the simple options for the choices:
9. Move the throttle stock to the full down position if you confirm the option.10. You should
have only one choice between the lipo self-
protection of NiMh/NiCd self-protection.
11. Once you confirm your choice, you will
hear a sharper tone indicating this choice has
been saved.
12. If you want to change the brake setting,
repeat steps 2-10.
CAUTION: At this point the throttle is armed.
If you advance the throttle stick the motor will
run. If you are not ready to fly, unplug the
motor battery and then turn the transmitter off.
Always turn the transmitter on (and the receiver if you are using a seParate receiver battery) and
be sure it is set at idle position before connecting the motor battery. All of your selected
programming will be saved in the ESC. There is no need to program again unless you wish to
change a setting.
Note: If the motor rotates in the wrong direction, simply sway any two of the three wires from
the speed controller to the motor.
9.6.1 Additional Features:
1. Soft start
2. Start prohibition if the throttle position is wrong.
3. Auto learning on the throttle response.
4. Auto shut down of the power if the signal is wrong
5. Auto calibration of the motors
6. If there is no response on the receiver, the input will be automatically shut off The ESC can be
used with 4-10NiCd/MiMh or 2-4 cell Lipo batteries and will automatically detect them. The
BEC is functional with up to 3 Lipo cells. With 4 lipo cells you will need to disable the BEC.
The only programmable feature on this ESC is the brake. The brake defaults to OFF. If you don’t
need to program the brake function, your ESC is plug and play and ready for use up to 3 cell
Lipo or 10 cell NiCd/NiMh.
-
1 Beep Lipo Self
Protection
-- 2 Beep Ni-
Mh/NlcD
Self-
protection
--- 3 Beep Brake
Mode

36
9.7 Connecting the Motor:
Note the wiring diagram below:
1. Solder an appropriate connector on the battery + (red) and battery? (Black) leads. We
recommend Deans Ultra If using a polarized connector, make sure the polarity matches your
batteries.
2. Connect the three motor wires to your brushless motor (ignore the wire colors).If the motor
spins in the wrong direction, swap any two of the motor wires to reverse the direction. We
recommend using gold plated spring connectors (also known as bullet connectors) between the
motor and the speed control to facilitate swapping the wires. Make sure to cover the bullet
connectors with heat shrink tubing.
3. Plug the servo connector into the appropriate channel on your receiver. Most receivers use
channel 3 for the throttle, but some use channel 1. Consult the manual for your receiver for
details. The red wire on the servo connector is positive (+), the brown or black wire is negative (-
), and the orange or white wire is the signal.
4. Make sure your transmitter throttle channel is not reversed. Most Futaba transmitters have the
throttle channel reversed by default.
5. Before flight, you can program the battery type, number of cells, and cut-off voltage. See the
next page for programming instructions.
6. Install your ESC in a location in your airplane that receives good cooling airflow. Keep the
motor and battery wires away from your receiver and antenna.
Adjustment Check List
Once the construction part is over, it’s time to work with the adjustments of the flight since the
probability of making a perfect flight is very low and it requires some fine tuning to achieve the
perfect center of gravity, stability and other defects probably needs to be overcome at this point
of design. The following points would help anyone to analyze the flight and trouble shoot for its
performance.

37
9.8 ROPES
The rope is an essential item in a Parachute. Whether we use it to keep things from falling apart
or we have more specific purposes, such as climbing, the rope can come in hand in a multitude of
situations. The presence of a good type of rope in the Parachute could literally save your life
because it is the object thet is solely responsible for keeping the Para foil connected to the Para-
motor Parachute.
Nylon ropes are usually made using materials like nylon and polyester, but also, proprietary
materials like Kevlar is. Depending on its type, synthetic rope may be waterproof,it could float
and stretch unimaginably much and most importantly it can bear the force of the wind that passes
through it while the Parachute is in the air.
Figure 18 nylon ropes
9.9 NYLON BASED PARA-FOIL
A primary Parachute material (Nylon 6-6) developed shortly before WWII. Highly oriented
molecules and high intermolecular forces Tenacity is 2.5 to 9.5 grams/denier (6.6 for Nylon 6-6).
Minimum elongation specified as 20%, actual elongation 30-40% at break. It is sensitive to
ultraviolet light. Polyamide resin with high tenacity due to long. Stress @ Break (psi) = 12,800 X
specific gravity X tenacity (gpd) = 12,800 X 1.14 X 6.6 = 96 ksi, Does not burn readily, but
melts at 450F.

38
Figure 19 nylon (6, 6) Para-foil
SERVO MOTORS
The servo motors acts as steering subsystem for controlling the direction of the Parachute. A
servo motor is a linear or rotary actuator that provides fast precision position control for closed-
loop position control applications. Unlike large industrial motors, a servo motor is not used for
continuous energy conversion. Servo motors have a high speed response due to low inertia and
are designed with small diameter and long rotor length. Servo motors work on servo mechanism
that uses position feedback to control the speed and final position of the motor. Internally, a
servo motor combines a motor, feedback circuit, controller and other electronic circuit.
The HS-55 set the standard for affordable performance, offering precision components that have
been engineered to provide long lasting trouble free service! Featured in a hundred model aircraft
reviews worldwide, the HS-55 is the best choice when it comes to controlling” smaller”
electric’s and Park Flyers.

40
Motor Type: Coreless
Bearing Type: None
Speed: 0.17 / 0.14 sec
@ 60deg.
English Metric
Torque: 15.27 / 18.05 oz.in
(4.8v/6v)
1.1 / 1.3 kg.cm
Size: 0.89" x 0.45" x
0.94"
22.80 x 11.60 x
24.00mm
Weight: 0.28oz 8.00g

41
10 FORCE ANALYSIS
______________________________________________________________________________
• Thrust force
• Drag force
• Lift force
• Weight force or gravity force
Lift force:
Lift force helps the glider or any flying object to rise up in the air, the more speed will be
generated, the faster flying object will rise up
Weight force:
It is also known as the gravity force and the opposite pull to thrust force, which is trying to pull
the flying object to pull down.
Thrust force:
Thrust force is the force which begins from the engine, basically gain by the motion o propeller

42
Drag force:
Also known as resistance force, opposite to thrust force, which pulls the flying object in
backward direction.
Forces acting
The two forces acting on rockets at the moment of launch are the thrust upwards and the weight
downwards. Weight is the force due to gravity and is calculated (at the Earth’s surface) by
multiplying the mass (kilograms) by 9.8.The resultant force on each rocket is calculated using
the equation resultant force = thrust – weight.
Calculating thrust force
Acceleration is a measure of how much the speed increases each second. It can be calculated
using the equation
acceleration = resultant force (newtons, N) divided by mass (kilograms, kg).
One model rocket has a mass of 50 grams and a rocket engine that produces a thrust of 5 N for 1
second.(hypothetical)
To find the weight, 50 g needs to be changed into kilograms by dividing by 1000. This gives a
mass of 0.050 kg. Weight is mass (in kg) x 9.8, which gives 0.050 x 9.8 = 0.49 N.
The resultant force is the thrust – weight = 5 – 0.49 = 4.51 N (unrounded).
Acceleration = resultant force divided by mass = 4.51 ÷ 0.050 = 90 meters per second squared
(90 m/s2
). This means that, every second, the speed of the rocket increases by 90 m/s.

43
10.1Calculating drag force:
Drag depends on the density of the air, the square of the velocity, the air's viscosity and
compressibility, the size and shape of the body, and the body's inclination to the flow. In general,
the dependence on body shape, inclination, air viscosity, and compressibility is very complex.

44
One way to deal with complex dependencies is to characterize the dependence by a single
variable. For drag, this variable is called the drag coefficient, designated "Cd." This allows us to
collect all the effects, simple and complex, into a single equation. The drag equation states that
drag D is equal to the drag coefficient Cd times the density r times half of the velocity V squared
times the reference area A.
➢ D = Cd * A * .5 * r * V^2
For given air conditions, shape, and inclination of the object, we must determine a value for Cd
to determine drag. Determining the value of the drag coefficient is more difficult than
determining the lift coefficient because of the multiple sources of drag. The drag coefficient
given above includes form drag, skin friction drag, wave drag, and induced drag components.
S
R
N
MATERIAL REQUIRED NAME OF
DEALER
QT
Y
RATE OF
COMPONENTS
MARKET
PRICE

45
11 MATERIAL SPECIFICATION & COST
12
1.
2.
3.
4.
5.
6.
7.
8.
9.
0
ALLUMINIUM RACTANGULAR
HOLO BAR
VAT + OTHER CHARGES
BRUSH-LESS DC RC MOTOR
10000RPM
VAT + OTHER CHARGES
SERVO MOTOR 9G
PROPELLER (PLANE) 10”
PARA-MOTOR PARACHUTE
(PARA-FOIL) 1.4 M
LIPO BATTERY 11.4V 2200mah
RC REMOTE CT 6B
ESC 30amp
WHEELS
MISCELANEOUS
(NUT,BOLT,SCRUE,ETC
AROR MATELS,
BHAGAT SINGH
CHORAH,
JALANDHAR
SAINI
ELECTONICS,
JALANDHAR
1*6
FT
1
1
1
1
1
1
1
3
1
30 X 6 = 180
00
1 X 1500=1500
00
150 X 1 = 150
50 X 1 = 50
1950 X 1 = 1950
1700 X 1 = 1700
2600 X 1 = 2600
450 X 1 = 450
50 X 3 = 150
100
180
00
1500
00
150
50
1950
1700
2600
450
150
100
Rupees: EIGHT THOUSAND
EIGHT HUNDRED THIRTY
ONLY
12
8,830 8,830

46
CONCLUSION
A Para-motor based Parachute is a very fragile construction consisting of two layers of thin
fabric inflated by air during the flight. This makes it fairly sensible to side winds and streaming
conditions as well as to the pilot’s and the equipment’s weight, position and attitude. Only during
flight 3D measurement can take place as just then the Para-motor Parachute’s typical shape is
given.
The use of RF remote controller as well as all other parts have been properly selected and closely
verified and more importantly the parts used are light in weight because a complex multiple
setups may not be applicable due to its additional weight and the necessary safety issues for the
pilot. Evaluation based on practical execution of the system proved that the Para-motor
Parachute remained indeed stable during the complete data acquisition flight. This showed that
3D measurement of flying Para-motor Parachutes is less time critical than assumed. It is,
however, important that the optimal flying spot and time are chosen where ideal stable wind and
streaming conditions are given.
The achieved results demonstrate that it is possible to attain high accuracy with both coded
targets as well as manually selected vertex and edge points. This makes the here presented
approach well suited for several related applications. The scaling of the 3D model was
established using a fixed length bar as reference distance. For safety reasons the bar,
however, couldn’t be installed directly on the Para-motor Parachute or its lines. Two short
additional lines were mounted on the Para-motor Parachute instead. This was necessary so that
the Para-motor Parachute was still able to move freely during the starting and landing phase as
well as in case of emergency maneuvers.
During the evaluation process it turned out that the Para-motor Parachute itself was very stable in
the air, but the bar wasn’t. Overall, we could prove that the presented workflow is not only
suitable, but also safe for the pilot, cost-efficient and delivering satisfying results which can be
used for both prototype development and quality control.

47
13 REFERENCES
1) https://vscl.tamu.edu/research/flight-tests-of-an-unmanned-powered-parachute-a-validation-tool-for-
gnc-algorithms/
2) https://www.researchgate.net/profile/Zoran_Ilic3/publication/266737916_APPLICATIONS_OF_PO
WERED_PARAGLIDERS_IN_MILITARY_POLICE_SPECIAL_FORCES_SEARCHING_AND_R
ESCUE_UNITS/links/543a34350cf2d6698be1730d/APPLICATIONS-OF-POWERED-
PARAGLIDERS-IN-MILITARY-POLICE-SPECIAL-FORCES-SEARCHING-AND-RESCUE-
UNITS.pdf
3) https://www.faa.gov/regulations_policies/handbooks_manuals/aviation/media/powered_parachute_ha
ndbook.pdf
4) http://u-turnusa.com/articles/powered-paragliding/
5) https://www.boltdepot.com/fastener-information/materials-and-grades/materials.aspx
6) https://en.free.aero/contents/Trends-2015-E.pdf
7) https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4156803/

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