Flexbee: A Grasping and Perching UAV Based on Soft Vector-Propulsion Nozzle

To improve environmental adaptability maneuverability, and structural reuse, for cooperative tasks in existing grasping/perching uncrewed aerial vehicles (UAVs), we propose a soft vector-propulsion nozzle (SVPN) and develop Flexbee, a grasping and perching UAV built upon this concept, and it enables fully-actuated flight as well as grasping and perching. By redesigning both the mechanism and the system architecture, the SVPN consolidates multiple functions into a single modular unit, thereby expanding the achievable grasping range and improving perching versatility compared with add-on, functionally independent mechanisms. Moreover, fully-actuated flight enhances controllability and operational robustness during aerial interaction. This study covers the complete system design, including mechanical design, dynamic modeling, and controller design, which demonstrates the novelty and feasibility of the proposed platform through real-world experiments.