Abstract
This paper proposed novel design of hexarotor helicopters named Nonplanar Hexarotor. By dividing six rotors into three pairs and placing each pairs on three orthogonal planes, it is possible to decouple force and torque generation. Fully independent control of both position and orientation will be enabled by this configuration. Additionally by enclosing the whole mechanical parts with frames which protects from collision, it is possible to roll on the ground and fly narrow space. Unless it is needed to fly, it can move to the destination by rolling motion. Therefore this helicopter is suitable especially for indoor flight, such as the scene of an accident, the inspection of the sewer. There are a large number of applications. We explain a design planning, required machine elements, mathematical analysis and concrete applications.
