Cooperative transport system using unmanned aerial vehicles by cable connection
Fuminari NAKATO, Satoshi Suzuki, Takashi KAWAMURA · The Proceedings of Conference of Hokuriku-Shinetsu Branch · 2019
Activities of small Unmanned Aerial Vehicles (UAVs) have attracted attention in various fields in recent years. Especially, transportation of luggage using multi-rotor helicopter has already been the phase of verification test. However, when carrying out such transportation, the weight of the package that can be carried is limited due to the payload limitation of UAVs. Cooperative transport system using kinematics used in cable driven robot (Cable-Driven Parallel Robot: CDPR) has been proposed but it is not considered how to arrange the UAV.In this paper, using dynamics based on CDPR, cooperative transport system considering the UAV layout will be described.However, depending on the direction of the cables to which the UAV and loads are joined,the yaw angle of the package can not be controlled. In this paper, we describe the simulation considering the control of the yaw angle and its result.