Feather Holder Servo (a) Detached Detached 20 mm (b) Before Detachment Leaf Spring Solenoid During Detachment Solenoid is Activated Leaf Spring Pushes Feather (c) After Detachment Feather Pin Unlocked Pin Pin Unlocked Feather Detached Feather Solenoid Feather Detached (d) Figure 7. The mechanical design of the robot, focusing on the single layer. (a) A single layer with all feathers attached. (b) A single layer with two feathers detached. (c) The actuation mechanism for moving six feather holders with one servo motor. (d) The detachment mechanism using a solenoid. 86 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022 Before Detachment After Detachment