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Conference Papers Year : 2018

Wrench Capability Analysis of Aerial Cable Towed Systems


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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hal-01777623 , version 1 (14-08-2018)





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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