基于逆几何静力学的多机吊运系统工作空间求解OA

Multi-machine suspension systems employ multiple intelligent agents(robots,cranes,etc.)connected by parallel cables to adjust the posture of a suspended load.For under-constrained configurations,computing a high-quality workspace involves high computational load and discontinuities in adjacent poses.A method based on inverse geometric statics was proposed to calculate the workspace and its boundaries by considering cable tension performance and load stability.A geometric statics model was established,and multiple equilibrium solutions under identical condi-tions were evaluated to identify stable configurations free from cable interference.Stability indices were introduced,comprising posture stability and cable tension performance factors.The potential workspace of the under-constrained sys-tem was discretized,and its stable region along with boundaries was computed;a rapid optimization method was then developed.Simulation results show that the stable workspace of the two-cable system constitutes 68.6%under the speci-fied stability criteria;the solution speed of the three-cable system improved by 20%after optimization of the initial guess,and high-precision boundary optimization was achieved through mesh refinement.The proposed method thus pro-vides technical support for the structural design,motion analysis,and trajectory planning of under-constrained multi-machine suspension systems,and extends their application in complex environments.