  In this paper, we present a novel passive single Degree-of-Freedom (DoF)
manipulator design and its integration on an autonomous drone to capture a
moving target. The end-effector is designed to be passive, to disengage the
moving target from a flying UAV and capture it efficiently in the presence of
disturbances, with minimal energy usage. It is also designed to handle target
sway and the effect of downwash. The passive manipulator is integrated with the
drone through a single Degree of Freedom (DoF) arm, and experiments are carried
out in an outdoor environment. The rack-and-pinion mechanism incorporated for
this manipulator ensures safety by extending the manipulator beyond the body of
the drone to capture the target. The autonomous capturing experiments are
conducted using a red ball hanging from a stationary drone and subsequently
from a moving drone. The experiments show that the manipulator captures the
target with a success rate of 70\% even under environmental/measurement
uncertainties and errors.
