Abstract: A vertical takeoff and landing aircraft capable of six degree-of-freedom motion where lift, pitch, and roll are provided by multirotors oriented vertically, lateral translation is provided by a cyclorotor oriented vertically, and yaw is provided by a combination of the cyclorotor and the multirotors. The invention includes a frame, which supports the multirotors and cyclorotors. The frame also supports a payload and battery which are positioned at the extreme ends of the frame. The aircraft is capable of hovering precisely to position a payload close to or touching a target surface in the air.

Abstract: A device for controlling the orientation and magnitude of cyclorotor thrust and for providing mechanical power to that cyclorotor including a system of linear actuators to position a cam or eccentric around a geared shaft. The invention includes a frame which supports the main cyclorotor shaft, provides mounting for the linear actuators, and contains the mechanical gearing system.