Extended Data Fig. 1: Hardware components of FlyingToolbox.

a. The motor-to-motor distances of the manipulator MAV and the toolbox MAV are 65 cm and 102 cm, respectively. The toolbox MAV is designed to be larger than the manipulator MAV to ensure sufficient payload capacity to support the toolbox and counteract disturbances caused by the manipulator MAV. The weight of the manipulator MAV including all payloads such as the robotic arm and batteries is 5.08 kg. The weight of the toolbox MAV including all payloads but tools is 6.32 kg. The six tools weigh between 0.20 kg and 0.34 kg. The dimensions of the Delta arm are shown in the figure. The reason to choose a Delta arm is that since the heavier components of the Delta arm, such as joint servos, are fixed to the MAV’s body, the moving parts are lighter in mass, resulting in smaller disturbances and faster end-effector response speed. The Delta arm’s end-effector can achieve a maximum linear velocity of 1.2 m/s, with a workspace of around 16  × 16  × 20 cm. When the base is fixed, its end-effector control accuracy reaches 0.2 cm. The manipulator MAV is equipped with a NUC12WSHi5 onboard computer with a hybrid Core i5 processor, while the toolbox MAV is equipped with an NVIDIA Jetson Xavier NX onboard computer incorporating a 6-core NVIDIA Carmel ARMv8.2 64-bit CPU cluster. b. At the bottom of the manipulator MAV’s robotic arm is a conical recess containing an iron plate. The dimensions in the figure are in millimeters, and the same applies to the following two figures. c. Each tool features a conical protrusion with an electromagnet on top. The electromagnet can be activated or deactivated wirelessly. d. The top surface of the toolbox has four circular holes, each with a radius of 60 mm.