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

中文翻译：

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基于无人机的无人操纵器捕获飞行目标的设计与集成

在本文中，我们提出了一种新颖的被动式单自由度（DoF）机械手设计，并将其集成在自主无人机上以捕获移动目标。末端执行器设计为被动式，可将移动目标与飞行中的无人机分离，并在存在干扰的情况下以最小的能源消耗有效地捕获目标。它还设计用于处理目标摇摆和下冲效果。被动机械手通过单个自由度（DoF）臂与无人机集成在一起，并且在室外环境中进行实验。该机械手内置的齿条齿轮机构通过将机械手伸出无人机主体以捕获目标来确保安全。自主捕获实验是使用悬挂在固定无人机上并随后悬挂在移动无人机上的红球进行的。实验表明，即使在环境/测量不确定性和误差的情况下，机械手也能以70％的成功率捕获目标。