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CLC number: TN929.5

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Received: 2007-03-15

Revision Accepted: 2007-04-23

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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.9 P.1395~1400

http://doi.org/10.1631/jzus.2007.A1395


Mathematical modelling of translational motion of rail-guided cart with suspended payload


Author(s):  MITREV Rosen

Affiliation(s):  Department of Engineering Logistics, Material handling and Construction Machines, Technical University of Sofia, Sofia 1000, Bulgaria

Corresponding email(s):   rosenm@tu-sofia.bg

Key Words:  Transportation rail-guided cart, Travel mechanism, Swinging payload, Discrete dynamical model, Mathematical model


MITREV Rosen. Mathematical modelling of translational motion of rail-guided cart with suspended payload[J]. Journal of Zhejiang University Science A, 2007, 8(9): 1395~1400.

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author="MITREV Rosen",
journal="Journal of Zhejiang University Science A",
volume="8",
number="9",
pages="1395~1400",
year="2007",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2007.A1395"
}

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%T Mathematical modelling of translational motion of rail-guided cart with suspended payload
%A MITREV Rosen
%J Journal of Zhejiang University SCIENCE A
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%@ 1673-565X
%D 2007
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2007.A1395

TY - JOUR
T1 - Mathematical modelling of translational motion of rail-guided cart with suspended payload
A1 - MITREV Rosen
J0 - Journal of Zhejiang University Science A
VL - 8
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SP - 1395
EP - 1400
%@ 1673-565X
Y1 - 2007
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2007.A1395


Abstract: 
In this paper modelling of the translational motion of transportation rail-guided cart with rope suspended payload is considered. The linearly moving cart, driven by a travel mechanism, is modelled as a discrete six degrees of freedom (DOF) dynamic system. The hoisting mechanism for lowering and lifting the payload is considered and is included in the dynamic model as one DOF system. Differential equations of motion of the cart elements are derived using Lagrangian dynamics and are solved for a set of real-life constant parameters of the cart. A two-sided interaction was observed between the swinging payload and the travel mechanism. Results for kinematical and force parameters of the system are obtained. A verification of the proposed model was conducted.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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[8] Omar, H.M., 2003. Control of Gantry and Tower Cranes. Ph.D Thesis, Virginia Polytechnic Institute and State University, USA, p.12-14.

[9] Pauluk, M., 2001. Time Optimal Control of 3D Crane. MMAR 2001: Proceedings of the 7th IEEE International Conference on Methods and Models in Automation and Robotics, p.122-128.

[10] Petkov, G., Karaivanov, P., Kamburov, D., 1980. Experimental Research of Material Handling Machines. Tehnika, Sofia, p.191-192 (in Bulgarian).

[11] Pettersson, M., 1997. Driveline Modeling and Control. Ph.D Thesis, Linköpings University, Sweden, p.23-48.

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