发表机构
University of Twente; Sapienza University of Rome; Utrecht University（特文特大学; 罗马第一大学; 乌得勒支大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种重力感知准静态理论，将空中飞行器视为可移动柔性锚点，通过锚点重新定位塑造缆索悬挂负载的被动笛卡尔刚度，并建立动态验证框架评估其预测性。
AI 中文摘要
缆索悬挂空中操作为协同运输和物理交互提供了一种轻量化架构，然而负载处感知到的被动机械响应仍未得到充分理解且未被系统性地利用。本工作将空中飞行器视为可移动的柔性锚点，并发展了一种考虑重力的准静态理论，用于预测和塑造悬挂负载的被动笛卡尔刚度。该公式适用于任意数量的空中飞行器通过绷紧、笔直、不可伸长的缆索连接到一点负载的情形。在选定的重力加载平衡状态下，空中锚点的柔性和缆索的横向几何柔性在每个支腿内串联组合，而各支腿的刚度则并联作用于负载。对于各向同性的空中锚点行为，每个支腿精确等效于一个虚拟的单向弹性缆索，揭示了由平衡张力控制的轴向-横向刚度分解。这些结果定义了一个从指令锚点配置到被动负载刚度的非线性映射，其微分使得通过锚点重新定位进行局部约束保持的塑造成为可能。定义了一个具有非线性车辆控制、弹性阻尼肌腱和环境接触的动态刚体验证框架，以评估在分析模型假设之外，所推导的刚度在何时以及在何种程度上仍具有预测性。
英文摘要
Cable-suspended aerial manipulation offers a lightweight architecture for cooperative transportation and physical interaction, yet the passive mechanical response perceived at the load remains insufficiently understood and systematically exploited. This work interprets aerial vehicles as movable compliant anchors and develops a gravity-aware quasi-static theory for predicting and shaping the passive Cartesian stiffness of a suspended load. The formulation applies to an arbitrary number of aerial vehicles connected to a point load by taut, straight, inextensible cables. At a selected gravity-loaded equilibrium, aerial-anchor compliance and transverse cable geometric compliance combine in series within each leg, while the leg stiffnesses act in parallel on the load. For isotropic aerial-anchor behavior, each leg is exactly equivalent to a virtual unilateral elastic cable, revealing an axial--transverse stiffness decomposition governed by the equilibrium tension. These results define a nonlinear map from commanded-anchor configuration to passive load stiffness, whose differential enables local constraint-preserving shaping through anchor repositioning. A dynamic rigid-body validation framework with nonlinear vehicle control, elastic-damped tendons, and environmental contact is defined to assess when and to what extent the derived stiffness remains predictive beyond the assumptions of the analytical model.
