Zhang, Dan2019-07-022019-07-022019-04-122019-07-02http://hdl.handle.net/10315/36342In this work a novel dual-functioning rotorcraft undercarriage is developed. The design is a reconfigurable delta robot which allows for transformation between Adaptive Landing Gear for vertical take-off and landing and 3DOF Aerial Manipulation mode. To reconfigure between operation modes without reaching singularities, a guideline to find a singularity-free geometry is presented. An adaptive landing control was developed and validated on a test-stand. For the 3DOF manipulation of the delta-structure, a third-order smooth trajectory was presented and integrated. The prototype, also depicted in the accompanying video, is then presented in free flight experiments demonstrating the advantages of the dual-functioning system.enAuthor owns copyright, except where explicitly noted. Please contact the author directly with licensing requests.Aerospace engineeringElectronic Thesis or Dissertation2019-07-02drone deliveryadaptive landing gearaerial manipulationrotorcraftsearch and rescue dronedelta robotslope landing3DOFroboticlanding geardual-functioninguavadaptive landingquadcopterreconfigurationparallel roboticsparallel mechanism