| Summary: | Anvandningen av robotar blir allt vanligare i vardagen och robotar kan klara av alltmer komplexa jobb. Obemannade luftfartyg (UAV) ar en del av denna revolution och de dominerar luftrummet i robotomradet. Framsteg inom elektronik har i hog grad bidragit till de snabba framsteg i robotar och UAV, genom att minska kostnaderna och samtidigt oka kapacitet och minska stromforbrukningen av komponenter. Gemenskapenfor oppen kallkod har dessutom i hog grad bidragit till utvecklingen och anvandningenav UAV i allmanhet. Multi-helikoptrar ar ett nytt ras av UAV som har tagit fart senaretid pa grund av deras mekaniska enkelhet med stod av komplexa elektriska komponenteroch algoritmer for stabilitet. I dag anvandas helikoptrar och andra UAV framstfor ygfotografering, men deras anvandning inom andra omrader ar fortfarande mycketbegransad, bortsett fran forskningsprojekter till exempel pa universiteter och nagra andra foretager. UAV har en stor potential for att anvandas som befordringsmedel och de kunde darmed kraftigt minska kostnaderna och leveranstider. Flera hinder masteovervinnas innan detta kan bli verklighet. For att namna nagra hinder for transportav gods med UAV ar deras begransade formaga av att uppfatta miljoer och ocksa utmaningenmed automatisk grepp av last av olika former och storlekar som ligger pamarken. Malet med detta examensarbete ar att hitta en ny och robust mekanisk losningpa problemet dar huvudfokus kommer att ligga pa att ta tag i lasten. === The utilisation of robots is becoming more and more common in every day life androbots are capable of accomplishing assignments of increased complexity. Unmanned Aerial Vehicles (UAVs) are part of this revolution and are dominating the skies of therobotic eld. Advancements in electronisc have contributed greatly to those rapid advancementsof robots and UAVs, by reducing cost while increasing the capabilities andreducing power consumption of components. Open source communities have furthermoregreatly contributed to the development and usage of UAVs in general. Multi-copter's area newly introduced breed of UAVs that have been gaining momentum recently due totheir mechanical simplicity supported by complex electrical components and algorithmsto keep them stable. Today multi-copters and other UAVs are mostly used for aerial photography but their usage in other applications other than in research projects at universities and some other companies is still very limited. UAVs have a great potential to be used in transportation of cargo and consequently greatly reduce cost and shippingtime. Multiple obstacles need to be overcome before this comes a reality. To name someobstacles facing transportation of goods with UAVs are their limited capability to sensethe environment and also the challenge of automatic grabbing of cargo of various shapes and sizes located on the ground. The goal of this thesis is to nd a novel and robust mechanical solution to those problems where the main focus will be on grabbing of the cargo.
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