Stiffness Analysis of Cable-Driven Parallel Robot for UAV Aerial Recovery System

Abstract

Unmanned Aerial Vehicle (UAV) aerial recovery is a challenging task due to the limited maneuverability of both the transport aircraft and the UAV, making it difficult to establish an effective capture connection in the airflow field. In previous studies, we proposed using a Cable-Driven Parallel Robot (CDPR) for active interception and recovery of UAVs. However, during the aerial recovery process, the CDPR is continuously subjected to aerodynamic loads, which significantly affect the stiffness characteristics of the CDPR. This paper conducts a stiffness analysis of a single cable and a CDPR in a flow field environment. Firstly, we derive the stiffness matrix of a single cable based on a model that considers aerodynamic loads. The CDPR is then divided into elements using the finite element method (FEM), and the stiffness matrix for each element is obtained. These element stiffness matrices are assembled to form the stiffness matrix of the CDPR system. Secondly, we analyze the stiffness distribution of a single cable at various equilibrium positions within a flow field environment. Aerodynamic loads were observed to alter the equilibrium position of the cable, thereby impacting its stiffness. The more the cable bends, the greater the reduction in its stiffness. We examine the stiffness distribution characteristics of the CDPR’s end-effector within its workspace and analyze the impact of varying flow velocities and different cable materials on the system’s stiffness. This research offers a methodology for analyzing the stiffness of CDPR systems operating in a flow field environment.

Keywords

• UAV aerial recovery
• cable-driven parallel robot
• stiffness analysis
• aerodynamic loads