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.
Complete list of metadatas

Cited literature [25 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01970501
Contributor : Stéphane Caro <>
Submitted on : Saturday, January 5, 2019 - 1:06:50 PM
Last modification on : Tuesday, March 26, 2019 - 9:25:22 AM
Long-term archiving on : Saturday, April 6, 2019 - 1:19:15 PM

File

HAL_ASME_JMR2019_Erskine_Chrie...
Files produced by the author(s)

Identifiers

Citation

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⟩

Share

Metrics

Record views

80

Files downloads

304