<p>Aiming at the problem of potential collision during the movement of the suspension system, a constrained path planning method is proposed to facilitate vector configuration reorganization of suspension systems, which coordinates the cable length and the crane end position adjustment. To realize such reorganization, vector closure constraints and wrench feasible constraints have been formulated to ensure the closure of the kinematic chain and the positive tension of the cable, then a vector configuration space is constructed based on the implicitly expressed manifold. Subsequently, artificial field guide RRT* is used to grow in the tangent space of the manifold and finally a feasible path is found in the whole constrained vector configuration space. At last, simulations are implemented on the suspension system consisting of three cranes and the results show that the proposed method can effectively generate a collision-free path with vector configuration reorganization in a suspended environment with regular obstacles.</p>