  This paper presents a soft propelled arm, 3D-printed in TPU 70A, designed to
be used in flexible UAVs, an advantageous concept since it reduces risk in the
event of a collision thanks to a high energy absorption. The proposed design
also allows the possibility to adapt to the environment and land on pipelines.
The flexibility of the arm can be controlled during the additive manufacturing
process by adjusting the infill rate or internal density. In this work, a
mechanical design based on simulations with an experimentally adjusted 5-
parameter Mooney-Rivlin non-linear model is proposed. Thrust efficiency is also
maximized through CFD simulations.
