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Mercury is a free framework for bug hunters to find vulnerabilities, write proof-of-concept exploits and play in Android, by MWR Labs. For more information, please visit the Mercury Site.

• Use dynamic analysis on Android applications and devices for quicker security assessments
• Share publicly known methods of exploitation on Android and proof-of-concept exploits for applications and devices
• The easy extensions interface allows users to write custom modules and exploits for Mercury
• Replace custom applications and scripts that perform single tasks with a framework that provides many tools

User guides can be found here
Developer documentation can be found here