3 LIST OF FIGURES Figure 1 Drone Motion........................................................................................................................... 7 Figure 2 Motor specifications (a).......................................................................................................... 10 Figure 3 Motor Specifications (b)......................................................................................................... 10 Figure 4 Motor...................................................................................................................................... 10 Figure 5 Propellers................................................................................................................................ 11 Figure 6 ESC Protocol Comparison...................................................................................................... 13 Figure 7 ESC Specifications................................................................................................................. 13 Figure 8 Selected ESC.......................................................................................................................... 13 Figure 9 Betaflight F4........................................................................................................................... 15 Figure 10 FC Specifications.................................................................................................................. 16 Figure 11 Battery Specifications........................................................................................................... 17 Figure 12 Battery Selected.................................................................................................................... 17 Figure 13 Receiver Specifications........................................................................................................ 18 Figure 14 Transmitter Specifications.................................................................................................... 18 Figure 15 X-frame................................................................................................................................. 19 Figure 16 H-frame................................................................................................................................. 19 Figure 17 Hybrid X-frame.................................................................................................................... 20 Figure 18 Top plate............................................................................................................................... 20 Figure 19 Bottom plate......................................................................................................................... 21 Figure 20 Arm with standoff................................................................................................................. 21 Figure 21 Assembled view.................................................................................................................... 21 Figure 22 Total Displacement PLA-Initial Design............................................................................... 23 Figure 23 Von-Mises Stress PLA-Initial Design.................................................................................. 23 Figure 24 Total Displacement ABS-Initial Design............................................................................... 24 Figure 25 Von-Mises Stress ABS-Initial Design.................................................................................. 25 Figure 26 Trial-1 Top plate................................................................................................................... 25 Figure 27 Trial-1 Bottom plate............................................................................................................. 26 Figure 28 3D Printed Arm.................................................................................................................... 26 Figure 29 Wiring Diagram of Betaflight F4......................................................................................... 26 Figure 30 Wiring Check........................................................................................................................ 27 Figure 31 Assembled Model-Trial 1..................................................................................................... 27 Figure 32 Port Configuration................................................................................................................ 28 Figure 33 Protocol Configuration......................................................................................................... 28 Figure 34 System Configuration........................................................................................................... 29 Figure 35 Receiver Configuration......................................................................................................... 29 Figure 36 Transmitter Binding and Configuration............................................................................... 30 Figure 37 Accelerometer Configuration............................................................................................... 30 Figure 38 Mode Configuration............................................................................................................. 31 Figure 39 Bottom plate- Trial 2........................................................................................................... 31 Figure 40 Landing leg-Trial 2............................................................................................................... 32 Figure 41 Arm-Trial 2.......................................................................................................................... 32 Figure 42 Standoff-Trial 2................................................................................................................... 32 Figure 43 Total displacement Design trial 2......................................................................................... 33 Figure 44 Von-Mises Stress Design Trial 2......................................................................................... 33

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