Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles-Reference-Cited by-同舟云学术

Wrench Analysis of Cable-Suspended Parallel Robots Actuated by Quadrotor Unmanned Aerial Vehicles

Published:2019-02-22 Issue:2 Volume:11 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Erskine Julian¹,Chriette Abdelhamid¹,Caro Stéphane²

Affiliation:

1. École Centrale de Nantes, Laboratoire des Sciences du, Numérique de Nantes, UMR 6004, 1 Rue de la Noë, Nantes 44321, France e-mail:

2. Centre National de la Recherche Scientifique, Laboratoire des Sciences du, Numérique de Nantes, UMR 6004, 1 Rue de la Noë, Nantes 44321, France e-mail:

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.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4042513/6404567/jmr_011_02_020909.pdf

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