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

Abstract

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.

Keywords

Cable parallel manipulators hydraulic systems bond graphs AMESim

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