This work answers positively the question whether non-stop flights are possible for maintaining constant the pose of cable-suspended objects. Such a counterintuitive answer paves the way for a paradigm shift where energetically efficient fixed-wing flying carriers can replace the inefficient multirotor carriers that have been used so far in precise cooperative cable-suspended aerial manipulation. First, we show that one or two flying carriers alone cannot perform non-stop flights while maintaining a constant pose of the suspended object. Instead, we prove that three flying carriers can achieve this task provided that the orientation of the load at the equilibrium is such that the components of the cable forces that balance the external force (typically gravity) do not belong to the plane of the cable anchoring points on the load. Numerical tests are presented in support of the analytical results.

翻译：本文正面回答了在保持缆绳悬挂物体位姿不变的情况下，是否可能实现非停飞飞行的问题。这一反直觉的答案为实现范式转变铺平了道路，即用能量高效的固定翼运载器取代以往在精确协作式缆绳悬挂空中操作中使用的低效多旋翼运载器。首先，我们证明单个或两个飞行运载器无法在保持悬挂物体位姿不变的情况下执行非停飞飞行。相反，我们证明三架飞行运载器能够完成此任务，前提是平衡状态下负载的姿态使得平衡外力（通常为重力）的缆绳力分量不位于负载上缆绳锚点所在的平面内。数值实验支持了上述分析结果。