Stability and 3-D spatial dynamics analysis of a three cable craneA 3-cable crane mechanism has been designed for incorporation into a highly loaded Lunar crane for planetary construction. This 3-cable crane must maintain a positive stability margin in all phases of the loading/unloading, assembly, or installation operations. A 2D kinematic curvature theory is applied to: (1) derive a general stability criterion to prevent the 3-cable crane from instability; and (2) determine a simple equation of natural frequency for two planar models of 3-cable crane. Investigation of the 2D vibrational characteristics of the planar models provides valuable insight toward understanding of 3D dynamic behavior of the 3-cable crane. Also, precision in natural frequency from this simple kinematic equation due to the exclusion of the radius-of-gyration of a suspended article is discussed. Multibody dynamics of the 3D 3-cable crane is presented and simulated to study the resulting vibrational characteristics under external disturbances and to verify the feasibility of the stability criterion for the 3-cable crane.
Document ID
19920051862
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Yang, Li-Farn (NASA Headquarters Washington, DC United States)
Mikulas, Martin M., Jr. (NASA Headquarters Washington, DC United States)
Chiou, Jin-Chern (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 92-2456
Meeting Information
Meeting: AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference