Design and integration of a drone based passive manipulator for capturing flying targets

SUMMARY In this paper, we present a novel passive single degree-of-freedom (DoF) manipulator design and its integration on an autonomous drone to capture moving target. The end-effector is designed be passive, disengage the target from flying UAV it efficiently in presence of disturbances, with minimal energy usage. It also handle sway effect downwash. integrated through DoF arm, experiments are carried out outdoor environment. rack-and-pinion mechanism incorporated for ensures safety by extending beyond body capturing conducted using red ball hanging stationary subsequently drone. show that captures success rate 70% even under environmental/measurement uncertainties errors.