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：本研究对"能否通过不间断飞行维持缆绳悬挂物体姿态恒定"这一问题给出了肯定回答。这一反直觉的结论为范式转变奠定了基础：在精确协同缆绳悬挂空中操纵任务中，高能效的固定翼飞行载具可替代目前普遍使用的低效多旋翼载具。首先，我们证明单个或双个飞行载具无法在保持悬挂物体恒定姿态的同时实现不间断飞行。相反，我们论证了三个飞行载具能够完成此任务，其前提条件是：负载在平衡状态下的方位需满足——平衡外载荷（通常为重力）的缆绳张力分量不应位于负载上缆绳锚固点构成的平面内。数值仿真结果验证了理论分析的正确性。