Aspects of kinematics and dynamics for payload UAVs

The design of the payload for a UAVs robotic assembly system is of the highest importance. This is the piece of the work cell that physically interacts with the environment. The paper present a payload for HIRRUS V1, which is analyzed in terms of kinematic and dynamic. Functional calculation is presenting for the payload mechanism. Also, dynamic modeling are presented for retracted payload and small doors sliding, for different simulations.