Mechanism and control of coaxial double contra-rotation flying robot

This paper presents the control and mechanism of a flying robot that uses a coaxial double contra-rotation rotor. The flying robot consists of two rotors, landing legs, and a body. There are three motors: two motors are employed to control two rotors, and the other motor is used to control the center of gravity. In addition, an ultrasonic range sensor is installed under the body to measure flight height, and a gyro sensor is attached at the body to measure the direction of the rotation of the body. The rotational speed of the rotors is controlled by a PWM controller with programmable duty cycle. Through hovering flight experiments, the effectiveness of the mechanism and the control system of the flying robot is verified.