Aerial manipulation has been a very active area of investigation in the field of robotics due to its huge potential for use in various applications especially for disaster response. A manipulator together with an aerial platform can perform the necessary manipulation tasks such as turning off valves and retrieving sample objects in disaster sites where it is too dangerous for a humans to enter. However, it is very difficult for the system to perform manipulation tasks due to the complexity of the environment. Recently, a new concept of a UAV with a protective shell mechanism that allows physical interaction was proposed. Although several manipulators have been proposed, they have not been found suitable for an aerial platform with a protective mechanism. In this study, a new concept for a manipulator that is suitable for a UAV with two passive rotating hemispherical shells is proposed. The design of the manipulator, which is based on the requirements of the abovementioned aerial platform is discussed. An initial prototype is fabricated to actualize the concept. Several tests are performed to demonstrate the capability of the proposed manipulator. Finally, the proposed manipulator is attached to the aerial platform and a preliminary test flight is conducted. The testing of the manipulator validated its capability to grip and grab objects. Likewise, satisfying the stipulated requirements made it suitable for use with the UAV having two passive rotating hemispherical shells.