发表机构
University of Twente; Sapienza University of Rome; University of Pisa（特温特大学; 罗马第一大学; 比萨大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出变长缆绳长度定律，实现空中载体保持负载平衡的非停止轨迹，并阐明水平运动对载体数量的限制条件。
AI 中文摘要
本研究探讨了通过变长缆绳连接刚性负载的空中载体的保持平衡的非停止轨迹。内力运动在不改变负载力螺旋的情况下改变缆绳方向，而缆绳长度驱动则塑造载体轨迹的径向实现。我们推导出一个显式的缆绳长度定律，用于实现沿固定方向的预定载体位置轮廓，并将恒定高度作为一个相关的特例。在此约束下，载体恰好在其缆绳方向停止变化时停止。这一特性揭示了无限制运动与水平运动之间的区别：变长缆绳使得两个载体能够实现有界的非停止运动，而周期性的水平非停止运动对于两个载体而言受到阻碍，但在明确的几何与可行性条件下，对于三个或更多载体则可以构造性地实现。数值模拟展示了恒定高度的构造。
英文摘要
This work studies equilibrium-preserving non-stop trajectories of aerial carriers connected to rigid loads by variable-length cables. Internal-force motions vary the cable directions without changing the load wrench, while cable-length actuation shapes the radial realization of the carrier trajectories. We derive an explicit cable-length law for realizing prescribed carrier-position profiles along a fixed direction, with constant altitude as a relevant specialization. Under this constraint, a carrier stops exactly when its cable direction stops changing. This characterization reveals a distinction between unrestricted and level motion: variable cable lengths enable bounded non-stop motion with two carriers, whereas periodic level non-stop motion is obstructed for two carriers and constructively achieved for three or more under explicit geometric and feasibility conditions. Numerical simulations illustrate the constant-altitude construction.
