書誌事項
- タイトル別名
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- Efficient Dynamic Simulation Method of Cranes with a Spherical Pendulum.
抄録
In the development of a strictly dynamic computer simulation for cranes with a spherical pendulum such as a rotary crane, it is necessary to derive the complex equations of motion. This paper presents a new approach of the mathematical model that is expressed using the open-loop linkage model. To simulate the crane's load swing efficiently, a new simulation method based on both this model and the recursive Newton-Euler formulation developed for the robots is also proposed. This method is applied to the reduced scale truck crane which can carry out four kinds of motion (i.e., rotation, boom hoisting, boom extending-shrinking and load hoisting) simultaneously. A further advantage of using this model is that many results developed for robots can be applied to developing the intelligent crane.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 59 (559), 814-818, 1993
一般社団法人 日本機械学会
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キーワード
詳細情報
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- CRID
- 1390282681271693056
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- NII論文ID
- 130004083096
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- ISSN
- 18848354
- 03875024
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可