Coaxial counter-rotating rotor system

1. A helicopter, comprising:

a fuselage;

an engine carried within the fuselage;

a transmission rotatably coupled to the engine and completely disposed within the fuselage and pivotally attached to the fuselage via a pivot joint, the transmission being configured to pivot within the fuselage; and

a rotor system positioned above the fuselage, the rotor system having:

a first rotor hub assembly;

a second rotor hub assembly spaced apart from the first hub assembly;

a plurality of rotor blades coupled to both the first hub assembly and the second hub assembly;

a rotor mast rotatably engaged with the transmission and attached to both the first rotor hub assembly and the second rotor hub assembly; and

a driver operably associated with the transmission;

wherein, during flight, the engine rotates the rotor system via the transmission, while the driver pivots the transmission within the fuselage, which in turn tilts the first rotor hub assembly and the second rotor hub assembly relative to the fuselage.

2. The helicopter of claim 1 , further comprising:

a control system operably associated with the driver;

wherein the control system commands the driver to pivot the transmission.

3. The helicopter of claim 2 , wherein the control system autonomously commands the driver to pivot the transmission.

4. The helicopter of claim 2 , further comprising:

a controller operably associated with the control system;

wherein the controller is manually manipulated, which in turn pivots the transmission via the control system.

5. The helicopter of claim 1 , further comprising:

a pivot joint pivotally attached to the transmission and rigidly attached to the fuselage;

wherein the pivoting movement of the transmission occurs about the pivot joint.

6. The helicopter of claim 1 , further comprising:

a sub-transmission rotatably operably associated with both the engine and the transmission;

wherein the sub-transmission reduces an input rotational speed from the engine and transfers a reduced output rotational speed to the transmission.

7. The helicopter of claim 1 , wherein the driver is a hydraulic system.

8. A method to tilt a rotor system relative to a helicopter fuselage, the method comprising:

attaching a first rotor hub assembly and a second rotor hub assembly of the rotor system to a rotor mast;

rotating the rotor mast with a transmission disposed within the fuselage;

pivoting the transmission via a pivot joint disposed within the fuselage; and

tilting the first rotor hub assembly and the second rotor hub assembly as the transmission pivots.

9. The method of claim 8 , wherein the process of tilting the first rotor hub assembly and the second rotor hub assembly relative to the fuselage is achieved by pivoting a transmission pivotally attached to the pivot joint and rotatably coupled to the first rotor hub assembly and the second rotor hub assembly.

10. The method of claim 8 , wherein the process of tilting the first rotor hub assembly and the second rotor hub assembly relative to the fuselage is achieved by pivoting a second section of a rotor mast relative to a first section of the rotor mast;

wherein the rotor mast transfers rotational movement from an engine of the helicopter to the rotor system; and

wherein the pivot joint pivotally connects the first section to the second section.

11. The method of claim 8 , further comprising:

controlling the pivoting movement of the pivot joint with a control system.

12. The method of claim 11 , further comprising:

autonomously controlling the pivoting movement of the pivot joint with a control system.

13. The method of claim 8 , wherein the process of tilting the first rotor hub assembly and the second rotor hub assembly is achieved through hydraulic actuation.