This article focuses on the static workspace (SW) of aerial cable towed robots (ACTRs) with land-fixed winches and provides an optimization approach to maximize the size of such a workspace. In the structure of the studied robots, land-fixed winches beside the ACTRs, actuated by unmanned aerial vehicles (UAVs), are used to manipulate a platform to reach high-altitude poses and balance platform's interaction force/moment in such poses. Capability of UAVs in choosing and holding different positions and orientations enables the studied robots to adapt their available net wrench set (AW) to various required net wrench sets. In order to find the SW of ACTRs with land-fixed winches, at first, AW of a generic robot for a given arrangement of UAVs is developed analytically. Then, a geometrical approach is provided to find all collision-free arrangements of the UAVs. Based on that, a performance index is derived and optimized to find an optimal collision-free arrangement of the UAVs, which maximizes the magnitude of the force that can be balanced by the platform in any arbitrary direction. Finally, the application of the proposed optimization approach in size maximization of the SW is shown in an example.

中文翻译：

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固定式绞车架空索缆机器人的静态工作空间优化

本文重点介绍带有固定绞盘的空中电缆拖曳机器人 (ACTR) 的静态工作空间 (SW)，并提供一种优化方法来最大化此类工作空间的大小。在所研究的机器人结构中，ACTR 旁边的陆地固定绞盘由无人机 (UAV) 驱动，用于操纵平台以达到高空姿势并平衡平台在此类姿势中的相互作用力/力矩。无人机选择和保持不同位置和方向的能力使所研究的机器人能够将其可用的网络扳手组 (AW) 适应各种所需的网络扳手组。为了找到具有陆地固定绞盘的 ACTR 的 SW，首先，分析开发了用于给定无人机布置的通用机器人的 AW。然后，提供了一种几何方法来找到无人机的所有无碰撞布置。在此基础上，推导出性能指标并进行优化，以找到无人机的最佳无碰撞布置，最大限度地提高平台在任意方向上可以平衡的力的大小。最后，在一个例子中展示了所提出的优化方法在 SW 尺寸最大化中的应用。