  Drilling, grinding, and setting anchors on vertical walls are fundamental
processes in everyday construction work. Manually doing these works is
error-prone, potentially dangerous, and elaborate at height. Today, heavy
mobile ground robots can perform automatic power tool work. However, aerial
vehicles could be deployed in untraversable environments and reach inaccessible
places. Existing drone designs do not provide the large forces, payload, and
high precision required for using power tools. This work presents the first
aerial robot design to perform versatile manipulation tasks on vertical
concrete walls with continuous forces of up to 150 N. The platform combines a
quadrotor with active suction cups for perching on walls and a lightweight,
tiltable linear tool table. This combination minimizes weight using the
propulsion system for flying, surface alignment, and feed during manipulation
and allows precise positioning of the power tool. We evaluate our design in a
concrete drilling application - a challenging construction process that
requires high forces, accuracy, and precision. In 30 trials, our design can
accurately pinpoint a target position despite perching imprecision. Nine
visually guided drilling experiments demonstrate a drilling precision of 6 mm
without further automation. Aside from drilling, we also demonstrate the
versatility of the design by setting an anchor into concrete.
