Abstract
This thesis presents two iterations of aerial robotic platform, each equipped with specifically designed mechanisms for rapid remote elevated perching drill operations for wood health inspection. The primary objective is to enhance the safety and efficiency of elevated wood structure inspection using the resistography method, which involves drilling into wooden structures to identify internal decays. The research focuses on two key enabling technologies: a gripper mechanism for secure attachment to target surfaces and a tethered drill configuration for drilling operations. The novel gripper mechanisms facilitate drilling on large planar surfaces, small beam-width structures, and tree trunks. The thesis includes discussions on design, simulations, and drill resistance experiments, highlighting the effectiveness of each proposed approach in detecting internal cavities within wooden structures.