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research-article

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

[+] Author and Article Information
Julian Erskine

École Centrale de Nantes, Laboratoire des Sciences du, Numérique de Nantes, UMR 6004, 1 Rue de la Noë, 44321, Nantes, France
Julian.Erskine@ls2n.fr

Abdelhamid Chriette

École Centrale de Nantes, Laboratoire des Sciences du, Numérique de Nantes, UMR 6004, 1 Rue de la Noë, 44321, Nantes, France
Abdelhamid.Chriette@ls2n.fr

Stéphane Caro

Centre National de la Recherche Scientifique, Laboratoire des Sciences du, Numérique de Nantes, UMR 6004, 1 Rue de la Noë, 44321, Nantes, France
Stephane.Caro@ls2n.fr

1Corresponding author.

ASME doi:10.1115/1.4042513 History: Received October 15, 2018; Revised January 10, 2019

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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