Sliding into Balance: Benefits of a Sliding Payload for Load Distribution and Re
Overview
This paper analyzes cooperative transportation of a payload suspended from two drones where the payload slides along a single rope connecting both UAVs instead of being attached to two independent ropes. A planar nondimensional dynamical model with viscous friction is presented, and the sliding configuration is compared with a fixed payload under stationary drone conditions. Analytical results show that the sliding payload equalizes tension in both rope segments for any relative drone position, doubles the reachable region for the payload, and enlarges the set of admissible disturbances except in cases of low friction combined with large drone separation. Dynamic simulations under realistic gusty wind profiles further demonstrate that the average tension imbalance between drones is reduced compared to the fixed-payload solution.
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- arXiv Robotics — research abstractsSignalSliding into Balance: Benefits of a Sliding Payload for Load Distribution and Disturbance Rejection in Dual-UAV Transportation
This paper analyzes cooperative transportation of a payload suspended from two drones where the payload slides along a single rope connecting both UAVs instead of being attached to two independent ropes. A planar nondimensional dynamical model with viscous friction is presented, and the sliding configuration is compared with a fixed payload under stationary drone conditions. Analytical results show that the sliding payload equalizes tension in both rope segments for any relative drone position, doubles the reachable region for the payload, and enlarges the set of admissible disturbances except in cases of low friction combined with large drone separation. Dynamic simulations under realistic gusty wind profiles further demonstrate that the average tension imbalance between drones is reduced compared to the fixed-payload solution.
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