近年來無人機主題相常熱絡，各式各樣的無人機出現在市場及創新用途，例如：無人機空拍、噴灑農藥、橋樑巡檢、物流運送等各種運用。但大都以電力驅動馬達為其動力來源，然而其續航能力不足一直都是市場無法快速發展的重要因素。本論文為解決此長航程操作的需要,構想利用引擎還是較符長航時的可能需要,但至今尚無具引擎的多旋翼機在市場上,顯示引擎要作為帶動多軸機的動力系統仍有相當的困難待突破。

本論文為一創新構想,擬透過四軸可變螺距機體和引擎傳動系統的整合研究，希望能實現軸傳引擎動力在多軸無人機上 ,設計一能及時運作可信賴且能長時持續運作的載體， 跳脫現今馬達提供動力，單靠轉速改變來控制本身機體，電池供應能源的傳統多軸無人機框架。

在設計與實作流程，簡略可分為分析推導、研究設計、控制器設定、試飛測試、等幾大部份，依據現市有產品，未來需求發展投入之價值，簡約的規劃整體雛型與方向，然後再予研究設計之步驟。

在此階段以輕便簡約的設計為原則，降低設計成本為考量下，盡量從市售方便取得，或是改造設計配合，從最精簡機體設計，以不增加累贅零件，減輕機體重量，完成機械整體之運作方針，終於完成設計並做出第一架可變螺距旋翼，以引擎為動力，軸傳動方式之X型多軸無人機載具。

機體設計在上述條件原則下，過程困境是一定的，尤其是各零件間的整合和聯通更甚之，完成機體載具後，最終面臨的還是最實際的飛行測試，由於是首次實體研發設計，測試重點在於引擎動力的驗證和整體載具的穩定性，由於只是初期測試發表無法以一釋全，至少驗證了能引擎為無人機動力系統和可更換不動力系統之新載具之可行性。

The quadcopter is applied in several fields due to its simple structure, cheapness, and user-friendliness. It is used in fields such as aerial photography, security surveillance, entertainment, etc. The trends of applying variable-pitch quadcopter by gearing up with other devices have been highly valued in recent years in both business and military fields. The reason is the superiority of wind resistance. With advancing controllers and controlling methods, we will have great progress in the feasible implementation of this flight mechanism.

The variable pitch propeller is a non-fixed pitch propeller system. Instead of using a fixed-pitch propeller, the design uses a mechanical mechanism to change the pitch angle of the rotor blades. With this feature, it provides three variation aspects: first, using both positive and negative pitch to point the thrust upward and downward. Second, with the best combination of pitch and rotation, it helps control the power consumption. Third, changing the pitch and rotation speed maximize the thrust performance. These advantages have driven variable-pitch UAVs to become the mainstream of large-scale UAVs.

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