Design and Optimization of UAV Aerial Recovery System Based on Cable-Driven Parallel Robot

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Unmanned aerial vehicles (UAVs) require extended operational range and endurance.
• Existing aerial recovery methods are limited by aerodynamic forces and applicability.
• Aerial recovery systems must overcome challenges posed by aerodynamic forces.

Purpose of the Study:

• To introduce a novel cable-driven parallel robot (CDPR) for dynamic UAV aerial recovery.
• To model and analyze the effects of aerodynamic forces and cable tension on CDPR performance.
• To optimize the CDPR system for improved recovery accuracy, efficiency, and safety.

Main Methods:

• Development of a comprehensive cable model including elasticity, mass, and aerodynamic force.
• Derivation of static equilibrium equations for the CDPR.
• Multi-objective optimization considering error, power consumption, and safety distance.

Main Results:

• Numerical analysis of CDPR end-effector position error and power consumption relative to cable tension.
• Optimization yielded an 83% reduction in error and a 62.3% decrease in power consumption.
• Achieved a 1.2 m increase in safety distance through optimized parameters.

Conclusions:

• The proposed CDPR system offers a viable solution for UAV aerial recovery.
• The study provides a foundational analysis for future advancements in autonomous aerial recovery technologies.
• Optimized cable tension and spatial positioning significantly enhance recovery system performance.