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A two cable, six link boom crane for lunar constructionThis paper presents the conceptual design and analysis of a modified crane boom and cable suspension which provide contro1 over all six degrees of freedom of a payload. Two cables pass around pulleys to form six links between the payload and boom. A linearization of the pulley mechanics was derived to create finite element models of the system. The models were experimentally verified and used to explore variations of the suspension geometry. Several crane concepts which use the suspension are discussed and illustrated.
Document ID
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Taylor, Robert M.
(NASA Headquarters Washington, DC United States)
Mikulas, Martin M., Jr.
(NASA Headquarters Washington, DC United States)
Hedgepeth, John M.
(Colorado Univ. Boulder, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publication: In: AIAA(ASME)ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 34th and AIAA/ASME Adaptive Structures Forum, La Jolla, CA, Apr. 19-22, 1993, Technical Papers. Pt. 1 (A93-33876 1
Publisher: American Institute of Aeronautics and Astronautics
Subject Category
Ground Support Systems And Facilities (Space)
Report/Patent Number
AIAA PAPER 93-1340
Accession Number
Funding Number(s)
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