Modeling of a Rope-Driven Self-Levelling Crane

Authors:
Jianhong Zhang;Dongbin Zhao;Jianqiang Yi;Yi Yu
Affiliations:
-;-;-;-
Venue:
ICICIC '08 Proceedings of the 2008 3rd International Conference on Innovative Computing Information and Control
Year:
2008

Citing 0
Cited 3

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IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Intelligent control of a four-rope-driven level-adjustment device with constrained outputs

ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics

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Abstract

This paper concerns the fields of the eccentricpayload crane systems. We firstly introduce a fourrope-driven self-levelling crane system, which can adjust the payload to level precisely and safely by changing the lengths of the ropes. Then, the system model is deduced according to force equation, moment equation principles and geometry restrictions, without considering the acceleration items. Finally, a control strategy is proposed to adjust the system.