Mechanical Characterization of a Multi-Stage Passive Compliant End-Effector for Aerial NDT

Luka Greblo, Matko Orsag, Marko Car, Antun Ivanović, Stjepan Bogdan, Jurica Goričanec, Lovro Marković

Keywords: Aerial manipulation, Aerial inspection, Non destructive testing, Adaptive control, Autonomous contact

TL;DR: Developement of a tool for autonomous NDT testing using quadrotor.

Abstract: This paper presents the design and mechanical characterization of a multi-stage passive compliant end-effector designed to enable stable physical interaction on curved and planar marine surfaces. The proposed tool utilizes a dual-layer compliance strategy: a linear spring system for axial impact damping and a polyurethane flexure for multi-axis angular alignment. We employ Finite Element Method (FEM) analysis to validate the structural integrity of the polyurethane joint, focusing on axial and shear strain distributions to ensure high safety margins against material failure. Experimental results, validated via a high-precision motion capture system, demonstrate the tool's ability to passively compensate for up to 15 degrees of surface misalignment. This "hardware-first" approach reduces the burden on flight control systems, providing a robust pathway for standard UAVs to perform contact-based inspection.

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Submission Number: 15