Multi-rotor Unmanned Aerial Vehicles make use of multiple propellers, mounted on arms, to produce the required lift. This article investigates the influence on propulsion system efficiency in hover due to the configuration of these propellers. Influence of pusher or puller configuration of the propeller, number of blades, shape and dimensions of the arm, coaxial and overlapping propellers, is presented. A dedicated test bench that allows testing of various experimental setups is designed and built in order to realistically represent multi-rotor arms. Test results show that a two-bladed pusher configuration is most efficient and slenderness of the arm has more influence on efficiency than shape. A coaxial propulsion system approaches the efficiency of a single-prop system at high disk loadings. Finally, interference effects due to overlapping propellers are discussed.
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