Unmanned Aerial Vehicles (UAVs) with Vertical Take-Off and Landing (VTOL) capability have gained significant importance due to their operational flexibility, compact deployment, and suitability for diverse applications. However, experimental validation of VTOL UAV performance through flight testing is often associated with high cost, safety risks, and limited repeatability. To address these challenges, this work presents the design and fabrication of a ground-based test bed for systematic performance evaluation of VTOL UAVs under controlled conditions.

The proposed test bed comprises a rigid modular aluminum frame integrated with a universal joint mechanism that permits controlled roll and pitch motion while constraining translational movement. The system is equipped with load cells for thrust and force measurement, a Bosch BNO055 nine-degree-of-freedom inertial measurement unit (IMU) for real-time attitude estimation, accelerometers for vibration analysis, and an anemometer to monitor airflow characteristics. Data acquisition and visualization are implemented using MATLAB and Python-based simulations developed in Visual Studio Code, enabling real-time monitoring of Euler angles, accelerations, and orientation dynamics.

Static structural analysis of the universal joint confirms that stress and deformation levels remain within permissible limits, ensuring structural safety and reliability. The experimental results demonstrate that the developed test bed effectively replicates key dynamic behaviors of VTOL UAVs without the risks associated with free-flight testing. The proposed system provides a low-cost, repeatable, and safe platform for UAV performance evaluation, control algorithm validation, and aeronautical engineering education.