Mechanism synthesis and 2-D control designs of an active three cable craneA Lunar Crane with a suspension system based on a three cable mechanism is investigated to provide a stable end-effector for hoisting, positioning, and assembling large components during construction and servicing of a Lunar Base. The three cable suspension mechanism consists of a structural framework of three cables pointing to a common point that closely coincides with the suspended payload's center of gravity. The vibrational characteristics of this three cable suspension system are investigated by comparing a simple 2-D symmetric suspension model and a swinging pendulum in terms of their analytical natural frequency equations. A study is also made of actively controlling the dynamics of the crane using two different actuator concepts. Also, Lyapunov-based control algorithms are developed to determine two regulator-type control laws performing the system vibrational suppression for both system dynamics. Simulations including initial-valued dynamic responses as well as control performances for two different system dynamics are also presented.
Document ID
19920051693
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Yang, Li-Farn (NASA Headquarters Washington, DC United States)
Mikulas, Martin M., Jr. (Colorado, University Boulder, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1992
Subject Category
Ground Support Systems And Facilities (Space)
Report/Patent Number
AIAA PAPER 92-2342
Meeting Information
Meeting: AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference