Aerial cable towed systems (ACTSs) can be created by joining unmanned aerial vehicles (UAVs) to a payload to extend the capabilities of the system beyond those of an individual UAV. This paper describes a systematic method for evaluating the available wrench set and the robustness of equilibrium of ACTSs by adapting wrench analysis techniques used in traditional cable-driven parallel robots to account for the constraints of quadrotor actuation and dynamics. Case studies and experimental results are provided to demonstrate the analysis of different classes of ACTSs, as a means of evaluating the design and operating configurations.
Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 15, 2018; final manuscript received January 10, 2019; published online February 22, 2019. Assoc. Editor: Andreas Mueller.
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Erskine, J., Chriette, A., and Caro, S. (February 22, 2019). "Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles." ASME. J. Mechanisms Robotics. April 2019; 11(2): 020909. https://doi.org/10.1115/1.4042513
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