Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Zi, Bin; Qian, Shengsheng; Ding, Huafeng; Kecskeméthy, Andrés

doi:10.5772/53670

Cited by 16 publications

(17 citation statements)

References 33 publications

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“…Cables, due to their light weight, low bending stiffness, and their ability to resist relatively large axial load, have been widely employed in diverse engineering applications including crane loading, 1 suspension bridges, 2 cable-suspended robots, 3 and elevators, 4 along with mine hoisting. 5 However, they are subjected to large-amplitude vibrations caused by various sources of excitation for their high flexibility and low intrinsic damping, which results in accelerating the degradation of the cable structures and can also cause discomfort.…”

Section: Introductionmentioning

confidence: 99%

Lateral response of cable-guided hoisting system with time-varying length: Theoretical model and dynamics simulation verification

Jinjie

Cao

Zhu

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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The lateral response of the moving hoisting conveyance in cable-guided hoisting system is investigated in this paper. The equations of motion are derived by Hamilton's principle while the equivalent mass and stiffness of the guide cables are formulated. Galerkin method is employed to transform the governing equation into a set of ordinary differential equations. Subsequently, an ADAMS simulation model based on multi-degree of freedom is established to validate the theoretical model. Meanwhile, a high-efficiency simulation approach is proposed, in which the contact force is replaced with fixed joints and distance sensors. The numerical solution for equations set is obtained using Newmark- β method and the convergence of the solution is discussed, then the presented theoretical model is compared with the previous models describing the rigid rail-guided hoisting system. The results indicate that the numerical simulations are in reasonably good agreement with the ADAMS simulations and this presented model includes the previous models. The influence of parameters on the lateral response is analyzed, which reveals the maximum lateral displacement is linearly proportional to the excitation amplitude. Also, the appropriate preload can be determined by the theoretical model, which is beneficial for vibration control.

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Section: Introductionmentioning

confidence: 99%

Lateral response of cable-guided hoisting system with time-varying length: Theoretical model and dynamics simulation verification

Jinjie

Cao

Zhu

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…the origin of a coordinate system attached to the moving plate, which depends on the configuration and size of their links and wrist. 28 The reachable workspace of the CPMMCs has been discussed in detail in Zi et al 6 and the algorithm to generate the workspace is summarized in Table 1. Firstly, some constraints are initialized.…”

Section: Workpacementioning

confidence: 99%

“…3 For this reason, multiple manipulator has received attention and there has been a lot of related research about it. [4][5][6] Zhang et al 7 have proposed an innovative design for a parallel manipulator that has three degrees of freedom (DOFs). The direct and inverse kinematic problems were investigated and a dynamic model was implemented.…”

Section: Introductionmentioning

confidence: 99%

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Modeling, analysis, and co-simulation of cable parallel manipulators for multiple cranes

Zhang

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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With the increase of the weight and volume of building components, the collaborative working of multiple cranes is necessary when one crane cannot meet the lifting requirement sometimes. This paper is devoted to model and analyze a type of cable parallel manipulators for multiple cranes (CPMMCs). The CPMMCs have better lifting capability than a single crane and can be applied in complex lifting tasks. Kinematics and dynamics of the end-effector of the CPMMCs are studied and the reachable workspace is carried out additionally. Considering the requirements of large output torque, large motion scope etc. the hydraulic drive mode is adopted. The bond graph method is applied for the analysis of hydraulic systems. Subsequently, the AMESim models for the hydraulic systems are constructed. The performance of the CPMMCs and the accuracy of the models are verified by co-simulation under working conditions.

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“…Ropes, due to their light weight and high strength, have been extensively employed in diverse engineering applications including suspension bridges, 1 mobile cranes, 2 rope-driven parallel robots, 3 elevators, 4 and mine hoisting; 5 however, they usually undergo the longitudinal, lateral, and even coupled vibrations caused by the external excitations for their high flexibility and low bending stiffness. Particularly, in the typical sinking winch mechanism 6 as shown in Figure 1(a), there are three main types of ropes: suspension ropes, guiding ropes, and a hoisting rope.…”

Section: Introductionmentioning

confidence: 99%

Coupled vibrations of rope-guided hoisting system with tension difference between two guiding ropes

Cao

Wang

Zhu

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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The flexibility of the guiding rope and the tension difference between two guiding ropes cause the lateral and torsional vibrations of the hoisting conveyance in the rope-guided hoisting system, respectively, which are theoretically investigated with two different cases in this paper. The assumed modes method is used to discretize the hoisting rope and two guiding ropes, and Lagrange equations of the first kind is adopted to derive the equations of motion, while the geometric matching conditions at the interfaces of the ropes are accounted for by the Lagrangian multiplier. Considering all the geometric matching conditions are approximately linear, the differential algebraic equations are transformed to a system of ordinary differential equations. The current method can obtain not only the accurate lateral displacements of two guiding ropes, but also the constraint forces between the hoisting conveyance and two guiding ropes. Further, the current method is verified by the ADAMS simulation. Finally, the effects of various parameters on the lateral and torsional vibrations of the hoisting conveyance are analyzed and results indicate that the appropriate tension difference and distance difference could decrease the maximum lateral displacement, which is useful to design super deep rope-guided hoisting system for the decrease of the vibration.

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Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Cited by 16 publications

References 33 publications

Lateral response of cable-guided hoisting system with time-varying length: Theoretical model and dynamics simulation verification

Lateral response of cable-guided hoisting system with time-varying length: Theoretical model and dynamics simulation verification

Modeling, analysis, and co-simulation of cable parallel manipulators for multiple cranes

Coupled vibrations of rope-guided hoisting system with tension difference between two guiding ropes

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