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Chapitre D'ouvrage Année : 2022

A Preliminary Study of Factors Influencing the Stiffness of Aerial Cable Towed Systems

Résumé

There is a growing attraction for robotic aerial systems in the academic world and in industry. Aerial Cable Towed Systems (ACTSs) are naturally subjected to various unknown external actions (wind, human, etc.). Accordingly, it is crucial to characterize their stiffness both for balancing external disturbances and for their design. Thus, in this paper, an ACTS with a point-mass end-effector, subjected to a generic force, is considered. The effect of the number of cables and the cable arrangement on the stiffness of the ACTSs is investigated. It turns out that the cable arrangement is the factor that enhances most the stiffness of the ACTSs.
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Dates et versions

hal-03758218 , version 1 (23-08-2022)

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Vincenzo Di Paola, Edoardo Idà, Matteo Zoppi, Stéphane Caro. A Preliminary Study of Factors Influencing the Stiffness of Aerial Cable Towed Systems. ROMANSY 24 - Robot Design, Dynamics and Control, 606, Springer International Publishing, pp.272-282, 2022, CISM International Centre for Mechanical Sciences, ⟨10.1007/978-3-031-06409-8_29⟩. ⟨hal-03758218⟩
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