Cycloidal rotor micro-air vehicle

A cycloidal rotor air vehicle, comprising:

• an airframe;
• a first cycloidal rotor assembly supported by the airframe and configured to rotate about a first axis of rotation relative to the airframe, the first cycloidal rotor assembly comprising a rotor frame and a plurality of blades spaced circumferentially around the first axis of rotation, each blade having a longitudinal axis oriented parallel to the first axis of rotation and extending between a root and a longitudinally opposed tip and a pitch rod that is offset from the longitudinal axis, wherein each blade is coupled to the rotor frame by a separate root rod extending longitudinally from the root thereof to cantilever the blade to the rotor frame;
• a first motor configured to rotate the first cycloidal rotor assembly about the first axis of rotation;
• a first servo coupled to each of the plurality of blades of the first cycloidal rotor assembly, wherein the first servo is configured to adjust the pitch of each of the plurality of blades in response to activation of the first servo;
• an offset link having a first end pivotably coupled to an output of the first servo and a second end opposite the first end;
• a plurality of pitch links, wherein each pitch link has a first end pivotably coupled to the second end of the offset link and a second end opposite the first end pivotably coupled to the pitch rod of a separate blade of the plurality of blades, wherein the plurality of pitch links are configured to adjust the pitch of the plurality of blades in response to rotation of the offset link by the first servo;
• and
• a control system supported on the airframe and configured to control the operation of the first motor and the first servo.