## 1 Introduction  
In recent decades, drones have found extensive applications in defense, energy, agriculture, and power sectors due to their small size, maneuverability, and ease of operation [1, 2]. However, current drones with the capability of grasping are constrained by the weight of the grasping mechanism, high energy consumption, and battery limitations. Consequently, they suffer from weak load capacity and short endurance. Therefore, there is an urgent need to develop a lighter, more efficient grasping mechanism to enhance drone performance and practicality. In previous research, two primary methods have been employed to achieve drone grasping: one involves mounting one or more robotic arms on the drone [3, 4, 5], and the other involves directly installing grippers or multi-fingered robotic hands on the drone. For instance, [PERSON] et al. mounted a 7-degree-of-freedom KUKA robotic arm on an unmanned drone, enabling it to repetitively grasp objects in mid-air with a precision better than 2 cm [6]. [PERSON] et al. proposed a dual-arm system with kinematics resembling human arms for aerial manipulation by drones [7]. [PERSON] et al. designed a lightweight, eccentric, anthropomorphic three-fingered gripper, which could be precisely controlled by a linear actuator [8]. Although these studies achieved precise and complex aerial operations by installing robotic arms, this approach increases mechanical complexity, weight, and volume, thereby reducing the drone's endurance and payload capacity. Moreover, the operational range of robotic arms is limited by the drone's landing gear. To address these issues, rope-driven mechanisms have shown great potential in aerial operations [9]. [PERSON] et al. designed a rope-driven unmanned aerial system for aerial operations in water sample collection, achieving higher stability and control accuracy through the use of rope-drive technology [10]. [PERSON] et al. developed a rope-driven, normally closed compliant gripper based on the iris mechanism and iteratively optimized the gripper by simplifying the ribs to improve the grasping success rate [11; 12]. Similarly, [PERSON] et al. from Yale University proposed a rope-driven, underactuated gripper mounted on drones [13; 14]. [PERSON] et al. designed a soft, cable-driven, flexible robotic hand that could improve grasping performance while serving as the drone's landing gear [15]. Rope-driven flexible grippers require the ropes to maintain sufficient tension during grasping to prevent the object from slipping, necessitating continuous operation of the servo motors, thus consuming energy and reducing the drone's endurance. [PERSON] et al. proposed a passively closing adaptive gripper utilizing two servo motors, capable of ultra-fast aerial grasping and self-locking [16]. Inspired by traditional origami, [PERSON] et al. designed a self-locking foldable robotic arm, which uses a single motor to achieve shape and stiffness changes, with the self-locking feature allowing the servo motor to rest, further reducing the gripper's power consumption [17]. [PERSON] et al. developed a high-speed passively triggered gripper that could close within half a second upon a certain impact force, allowing drones to grasp objects without hovering [18]. [PERSON] et al. proposed a passively triggered gripper that quickly closes by contacting the target and utilizing stored potential energy, avoiding the weight and complexity of sensors, actuators, and electronics [19]. [PERSON] et al. introduced a bird-like dual-leg system for perching and passive grasping [20]. [PERSON] et al. presented a fully passive gripper without actuators for aerial perching and grasping, which closes upon impact but requires the grasped object to have sufficient mass to remain closed [21]. These passively triggered grippers require adequate impact force and appropriate impact angles for closure, which can reduce grasping success rates and reliability. Additionally, without actuators, the grippers need manual reopening after closure.