NDLI: Dynamic analysis of the cable array robotic crane

Content Provider	IEEE Xplore Digital Library
Author	Wei-Jung Shiang Cannon, D. Gorman, J.
Copyright Year	1999
Description	Author affiliation: Dept. of Ind. & Manage. Eng., Pennsylvania State Univ., University Park, PA, USA (Wei-Jung Shiang)
Abstract	Offshore loading and unloading of cargo vessels and on board cargo relocation during conditions of Sea State 3 or greater have been found to be difficult with existing crane technology due to oscillation of the payload. A new type of crane which uses four actuated cables to control the motion of the payload is presented. The closed chain configuration will intuitively provide more stability with respect to the motion of the sea compared to existing cranes. The kinematics and dynamics are derived using cable coordinates. Since there are four cables and three degrees of freedom, the system is redundant. This problem is solved by applying a geometric constraint to the equations of motion such that the reduced number of equations equals the degrees of freedom. The force distribution method is applied using linear programming to solve for the required cable tensions. Simulation results showing cable tensions and cable lengths during a typical crane operation are presented.
Starting Page	2495
Ending Page	2500
File Size	466500
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.773972
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cranes Equations Power cables Robot kinematics Parallel robots Containers Motion control Linear programming Manipulators Orbital robotics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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