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Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotors UAVs

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 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.
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Submitted on : Saturday, January 5, 2019 - 1:06:50 PM
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Julian Czapalay Erskine, Abdelhamid Chriette, Stéphane Caro. Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotors UAVs. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2019, 11 (2), pp.020909-1 -- 020909-12. ⟨10.1115/1.4042513⟩. ⟨hal-01970501⟩



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