Design and Kinematic Analysis of an Aerial Robotic Arm for Precision Agriculture

This paper presents the design and kinematic analysis of a novel aerial unmanned robotic arm with integrated storage, termed AURAS, aimed at enhancing agricultural efficiency. Focusing on the challenges of integrating robotic arms with unmanned aerial vehicles (UAVs), particularly for agricultural applications, it proposes a lightweight, compact design with minimal actuation requirements. The AURAS design features a foldable arm mechanism allowing for the extension, retraction, and gripping of objects, combined with onboard storage to minimize the need for frequent returns to base. Through kinematic analysis, including mobility, limit angles, and forward kinematics, the paper demonstrates the feasibility of the design. It concludes with future research directions aimed at refining the mechanism's design and operational reliability for practical agricultural use.