Aerial recovery and redeployment can effectively increase the operating radius and the endurance of unmanned aerial vehicles (UAVs). However, the challenge lies in the effect of the aerodynamic force on the recovery system, and the existing road-based and sea-based UAV recovery methods are no longer applicable. Inspired by the predatory behavior of net-casting spiders, this study introduces a cable-driven parallel robot (CDPR) for UAV aerial recovery, which utilizes an end-effector camera to detect the UAV's flight trajectory, and the CDPR dynamically adjusts its spatial position to intercept and recover the UAV. This paper establishes a comprehensive cable model, simultaneously considering the elasticity, mass, and aerodynamic force, and the static equilibrium equation for the CDPR is derived. The effects of the aerodynamic force and cable tension on the spatial configuration of the cable are analyzed. Numerical computations yield the CDPR's end-effector position error and cable-driven power consumption at discrete spatial points, and the results show that the position error decreases but the power consumption increases with the increase in the cable tension lower limit (CTLL). To improve the comprehensive performance of the recovery system, a multi-objective optimization method is proposed, considering the error distribution, power consumption distribution, and safety distance. The optimized CTLL and interception space position coordinates are determined through simulation, and comparative analysis with the initial condition indicates an 83% reduction in error, a 62.3% decrease in power consumption, and a 1.2 m increase in safety distance. This paper proposes a new design for a UAV aerial recovery system, and the analysis lays the groundwork for future research.
Keywords: UAV aerial recovery; cable-driven parallel robot; error analysis; multi-objective optimization; spatial cable model.