An　original　multi-rotor　flying　robot　(MFR)　with　six　non-planar　coaxial　rotor　pairs　is　introduced　in　this　paper,　compared　with　the　other　small　rotorcrafts,　the　corresponding　two　adjacent　face-to-face　(F-F)　and　the　back-to-back　(B-B)　rotor　units　are　proposed　as　the　research　component　to　study　the　overall　performance　of　the　rotorcraft.　The　main　characteristic　of　this　novel　configuration　is　that　the　attitude　and　translation　dynamics　are　totally　decoupled.　In　addition,　the　aerodynamic　interactions　of　the　rotor　pair　at　low　Reynolds　number　(Re)　condition　are　totally　new　and　different　from　any　other　MFRs.　Indeed,　together　with　the　detailed　aerodynamic　analysis　using　the　Euler-Lagrange　method　for　the　rotor　system,　the　simulations　in　the　presence　of　the　much　improved　performance　are　performed　to　validate　the　aerodynamic　models　and　test　the　effectiveness　of　the　proposed　rotor　system.　Combined　with　the　benefits　of　the　non-planar　rotor　pairs,　the　simulation　showed　a　good　aerodynamic　performance.　©　2017　IEEE.