Modelling and Design of an Airship Crane

Abstract

This paper presents the design and the dynamic modeling of a Smart Crane called CHAYASC, designed to equip wide-body airship, which has to carry out loading and unloading operations from a certain altitude. The main function of this crane is to lift, stabilize, maneuver and position large loads by having precise control of the position and orientation of these loads according to the six degrees of freedom. The CHAYASC is based in particular on a Cable Driven Parallel Manipulator and will have a dual mission: 1) deposit and arrange the containers in the hold of the airship, 2) lift and stabilize the containers suspended during a sudden movement of the airship under the effect of a gust of wind.

Nonlinear quasi-static modelling of cable structures including geometric constraints

“…Indeed, these manipulators have a great advantage of lightness compared to conventional rigid robots. This has allowed the design of long-range robots, in particular for the precise guidance of mobile cameras in stadiums, but also opened up other perspectives such as the use of these manipulators in Large Capacity Airships (LCA) [1,2]. The first studies of CDPRs adopted the strong hypothesis of the undeformability of cables neglecting their masses at the same time.…”

“…1 Université Paris-Saclay, Univ Evry, LMEE, Evry, France. 2 University of Tunis El Manar, LR-MOED, Tunis, Tunisia.…”