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Wrench Capability Analysis of Aerial Cable Towed Systems

Abstract : 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 of evaluating the avail- able wrench set and the robustness of equilibrium of ACTSs by adapting wrench analysis techniques used in cable-driven parallel robots to account for the constraints of quadrotor actuation. Case studies are provided to demonstrate the analysis of different classes of ACTSs, as a means of evaluating the design and operating configurations.
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https://hal.archives-ouvertes.fr/hal-01777623
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Submitted on : Tuesday, August 14, 2018 - 9:50:22 AM
Last modification on : Friday, August 5, 2022 - 2:54:51 PM
Long-term archiving on: : Thursday, November 15, 2018 - 12:43:54 PM

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Julian Benedict Czapalay Erskine, Abdelhamid Chriette, Stéphane Caro. Wrench Capability Analysis of Aerial Cable Towed Systems. ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Aug 2018, Québec, Canada. ⟨10.1115/DETC2018-85378⟩. ⟨hal-01777623⟩

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