Robotic Arm for a Drone

Abstract

Thanks to technical improvements, drones may now perform more than simply visual inspections of structures and buildings. An Unmanned Aerial Vehicle (UAV) drone can be equipped with a robotic arm or an attachment with sensors to check and test the structures and buildings. Designing a robotic arm with a modular end-effector that can be attached to a drone was the focus of this master's thesis research. The product is conceptualized using the product design method, mechanics theory, and simulation. As well as taking into consideration the 3D Printing cost of all the parts. The ultimate result is an end-effector gripper attached to an arm with one rotational degree of freedom that may be rotated to expand and retract the reach. Every attempt was made to keep the robotic arm light, like using topology optimization and making all the parts 3D printable. Overall, a virtual prototype that can be readily changed to function with different components is produced, along with the possibility of 3D printing a prototype as a proof of concept to test the functionality and further develop the design.