Development of co-axial Y6-Rotor UAV - design, mathematical modeling, rapid prototyping and experimental validation

This paper outlines development process of Y6-Rotor Micro UAV, which consists of concept of motion, modeling of the vehicle dynamics, rapid prototyping of the mechanics and finally practical realization of the VTOL. This paper presents a micro air vehicle designed to participate in the 2014 International Micro Air Vehicle Conference and Flight Competition (IMAV). Designed mechanical structure may also be referred to as a co-axial tri-rotor UAV, because has two rotors installed on each rotor axis. In order to improve the vehicle development it requires to derive accurate dynamics model enriched by empirical measurements of co-axial rotor performed on the test bench. Based on the theoretical considerations and previous stages of the development, the frame and mechanics of the vehicle has been designed and manufactured on the principle of rapid prototyping. Finally, flight tests performed on the real Y6-Rotor UAV show that the concept of flight mechanics and proposed control strategies are satisfactory at this early concept level.