This thesis presents an analysis of the kinematics of a mobile rubber tyred gantry crane (RTG Crane), as typically used for container handling operations, for the ultimate purposes of research into automation. Dynamical models are proposed for the crane based on a simplification of the structure into the gantry frame, the overhead trolley, and the cable mounted spreader slung below the trolley. The underlying trolley/spreader cabling geometry for commonly encountered designs has been analyzed, and novel mathematical relationships have been established for the first time. Full three dimensional motion is encompassed in the dynamical equations of motion, and various movement scenarios are examined. As an adjunct to the geometrical modelling a new phenomenon, described herein as geometrical extension, is defined in its role as an inherent anti-sway property in multi-cabled spreader suspension systems. The phenomenon is explained and investigated using pure geometry and a numerical method to assess its effect in practise. The final section of the thesis uses the single and multi-cable dynamics to evolve an accurate, and generic, fuzzy logic control and simulation for the RTG machine. Various performance scenarios are highlighted for typical freight manoeuvres. This work is now ready for experimental testing and evaluation in an allied project, thus the remit for the theoretical work of this thesis has been completed.
| Identifer | oai:union.ndltd.org:bl.uk/oai:ethos.bl.uk:659614 |
| Date | January 1996 |
| Creators | Morrish, Lena |
| Publisher | University of Edinburgh |
| Source Sets | Ethos UK |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Source | http://hdl.handle.net/1842/12689 |
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