design of the autonomous micro helicopter mufly

  in this paper, the design of two prototypes of the autonomous micro helicopter mufly is introduced.

these prototypes have been built and flown in untethered test flights. the rotor configuration andsteering principle selection of the prototypes are discussed according to the specifications, and the selection of a coaxial configuration with a swash plate steering of the lower rotor is justified based on dynamic simulation results. the two prototype designs are shown and discussed with special attention paid to their respective system integration issues, which are solved. finally, the prototypes are compared and conclusions for future designs of autonomous micro helicopters are drawn.