哈尔滨工程大学学报2026，Vol.47Issue(6)：1282-1291,10.DOI:10.11990/jheu.202404036
基于逆几何静力学的多机吊运系统工作空间求解
Workspace determination of multi-machine suspension systems based on inverse geometric statics
摘要
Abstract
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.关键词
多机吊运系统/欠约束系统/工作空间/几何静力学/稳定性指标/绳索张力性能/边界优化/仿真验证Key words
multi-machine suspension system/under-constrained system/workspace/geometric statics/stability index/cable tension performance/boundary optimization/simulation verification分类
信息技术与安全科学引用本文复制引用
柴伟,赵志刚,赵祥堂,苏程,李政,孟佳东..基于逆几何静力学的多机吊运系统工作空间求解[J].哈尔滨工程大学学报,2026,47(6):1282-1291,10.基金项目
甘肃省自然科学基金重点项目(22JR5RA319) （22JR5RA319）
国家自然科学基金项目(51965032) （51965032）
兰州交通大学重点研发项目(LZJTU-ZDYF2302). （LZJTU-ZDYF2302）
