Abstract
This paper proposed novel design of hexarotor helicopters named Nonplanar Hexarotor. The common way to design hexarotor helicopters is to place every rotor on same plane. However, 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. We explain a design planning, required machine elements, mathematical analysis and concrete applications.
