Establishing stable wall-contact with multirotor platforms

In this report the design, construction and testing of a mechanism for establishing stable wall contact with UAV’s is described. First a overview of the applications and existing solutions is given. From the applications a set of specifications is derived which is used in the design of the prototype. The prototype consists of a carbon fiber tube with two lower supports and a suction cup. This prototype is tested and the results lead to a second design iteration. The final design uses a spring mechanism to absorb the impacts, a servo paired with a wire to detach the suction cup and a special approach controller to ensure a stable impact from a distance. The system is again tested and results of this show that it is capable of impacting, attaching and detaching from a surface multiple times with a success rate of 55%.