| Summary: | This paper proposes a coaxial trirotor helicopter constructed with coaxial mechanism driven by one motor. There two types of trirotor unmanned aerial vehicles (UAVs) are existed. One is the single trirotor which has three motors for rotors and one servo motor for tilt angle. The other is the coaxial trirotor which has two rotors on each axis and six motors requires in total. In order to reduce the number of motor this paper discuses a coaxial mechanism which is driven by one motor. This mechanism is possible to suppress the reaction torques of each rotor. But, the counter torque of motor rotor in the direction to the rotor axis is remaining. For the control of yaw rotational angle and suppressing the reaming torque, one of the three axes has a servo motor for tilt angle rotation, as well as single trirotor type. In order to estimate the 3D orientation of trirotor, the integration of gyro sensors is mixed with inclinometers or magnetic campus to suppress the drifting by noise and vibration which is coming from the mechanical system. This paper is developed a trirotor type UAV with three motors and a servo motor. Experimental results show the advantage of proposed mechanism and control system.
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