Stiffness Analysis of Cable-Driven Parallel Robot for UAV Aerial Recovery System
Abstract
:1. Introduction
2. Stiffness of the Cable Considering Aerodynamic Loads
3. Stiffness Calculation of the CDPR
3.1. Global Coordinates and Elements Stiffness of CDPR
3.2. CDPR Stiffness Matrix
4. Stiffness Analysis
4.1. Analysis of Single Cable Stiffness in Flow Field Environment
4.2. CDPR Stiffness Analysis
4.2.1. CDPR Stiffness Distribution
4.2.2. Influence of Flow Velocity on CDPR Stiffness
4.2.3. Influence of Different Cable Materials on CDPR Stiffness
4.3. Design Guidelines for the UAV Recovery System Based on Stiffness Analysis Results
4.3.1. Selection of the UAV Interception Spatial Position
4.3.2. Selection of UAV Recovery Flight Speed
4.3.3. Selection of Cable Material
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameter Name | Parameter Symbol |
---|---|
Spatial coordinates of endpoint | |
The tension at endpoint | |
Cable free length | |
Young’s modulus of the cable | |
Cable cross-sectional area | |
Cable diameter | |
The aerodynamic forces per unit length | |
Cable density | |
Gravity acceleration | |
Air density at 3 km altitude | |
Aerodynamic friction coefficient | |
Aerodynamic drag coefficient | |
The airflow velocity | |
Intermediate variables | , , , , , |
Parameter Name | Parameter Symbol | Value |
---|---|---|
Cable diameter | ||
Cable cross-sectional area | ||
Young’s modulus | ||
Cable density | ||
Span 1 | ||
Span 2 | ||
Telescopic rod weight | ||
Telescopic rod diameter | ||
Telescopic rod elongation length | ||
Telescopic rod shortening length | ||
Telescopic rod elongation length | ||
Axial stiffness of the telescopic rod | ||
Air density at 3 km altitude | ||
Aerodynamic friction coefficient | ||
Aerodynamic drag coefficient | ||
Carrier aircraft flight speed | ||
Gravity acceleration |
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Wu, J.; Yue, H.; Pan, X.; Wang, Y.; Zhao, Y.; Yang, F. Stiffness Analysis of Cable-Driven Parallel Robot for UAV Aerial Recovery System. Actuators 2024, 13, 343. https://doi.org/10.3390/act13090343
Wu J, Yue H, Pan X, Wang Y, Zhao Y, Yang F. Stiffness Analysis of Cable-Driven Parallel Robot for UAV Aerial Recovery System. Actuators. 2024; 13(9):343. https://doi.org/10.3390/act13090343
Chicago/Turabian StyleWu, Jun, Honghao Yue, Xueting Pan, Yanbing Wang, Yong Zhao, and Fei Yang. 2024. "Stiffness Analysis of Cable-Driven Parallel Robot for UAV Aerial Recovery System" Actuators 13, no. 9: 343. https://doi.org/10.3390/act13090343