Iterative Development of a Mechanical Gripping System for Civil Counter-UAS Applications

In recent years, drones have become widely used. Consequently, their potential to cause harm or damage to people, property, or infrastructure has also increased. As drones have become more prevalent, so has the need to counter them and prevent potential misuse. Unlike net or projectile-based systems, a gripper enables precise midair capture and secure handling of the intruder drone without causing uncontrolled descent or collateral damage. This paper presents our iterative development process for such a mechanical gripping system for use in civil counter-UAS applications. After a brief overview of existing gripping systems, we will describe the initial de- velopment steps and progress to increasingly complex design solutions. During the development process, three prototype designs were built and evaluated, one after another. Finally, we present our final design, which satisfies all requirements for integration into the UAS and can be used to catch the intruders in mid-flight. NOMENCLATURE CAD Computer Aided Design CFRP Carbon Fiber-Reinforced Polymers FEM Finite Element Method PLA Polylactic Acid PSSB Pre-Stressed Spring Steel Band PWM Pulse Width Modulation UAS Unmanned Aircraft System UAV Unmanned Aerial Vehicle