Comparative analysis of two configurations of aerial robot

摘要

The aim of the research in this paper is to define the aerial robot (Cable-suspended Parallel Robot-CPR). CPR is hanged on four points and it is able to follow and record a moving object with high precision wherever the object moves in its workspace. Each contribution is a step closer to the achievement of highly automated systems which would precisely lead camera in the area with as less involvement of human interference as possible. Two new CPR structures are proposed. The mathematical model (kinematic and dynamic) is defined for both versions of the solution. It is assumed that all the parameters of systems are the same and therefore the comparison of these systems will be easier. It is evident that the choice of construction of CPR significantly affects the response of this system.