International DDEP: Experimental Evaluation of a Mobile Tower Crane

oose -0631830 （Singhose, William, Georgia Tech Research Corporation）“International DDEP: Experimental Evaluation of a Mobile Tower Crane”摘要该奖项支持PI学生Joshua Vaughn先生在移动起重机研究领域的机械工程博士论文研究。这项研究包括在日本东京工业大学Shigeo Hirose博士的机器人实验室对一种新型移动式起重机的控制算法进行实验评估。目前的起重机技术面临着至少两个显著的限制：有效载荷摇摆和缺乏机动性。Vaugh博士的研究旨在开发一种可快速部署的移动起重机，并测试安装在移动平台上的起重机的命令成形的有效性。为了实现这一目标，我们形成了四个具体的研究目标：1)改造东京工业大学的便携式塔式起重机，并将其安装在移动平台上；2)实验评估无载荷摇摆移动起重机的方法；3)研究了移动基座与起重机臂架同时移动时的运行效果；4)研究了基础起重机运动与载荷摇摆的耦合关系。该研究将于2006年11月至2007年2月在日本进行为期4个月的研究。

OISE-0631830 (Singhose, William, Georgia Tech Research Corporation)"International DDEP: Experimental Evaluation of a Mobile Tower Crane"ABSTRACTThis award supports the mechanical engineering doctoral dissertation research of the PI's student Mr. Joshua Vaughn in the area of mobile crane research. The research involves experimental evaluation of control algorithms for a novel mobile crane in the robotics lab of Dr. Shigeo Hirose of Tokyo Institute of Technology in Japan. Current crane technology faces at least two significant limitations: payload sway and lack of mobility. Mr. Vaugh's Ph.D. research aims to develop a rapidly deployable mobile crane and to test the effectiveness of command shaping on cranes mounted on mobile platforms. Four specific research objectives were formed to achieve this goal: 1) modify a portable tower crane at Tokyo Tech and mount it on a mobile platform; 2) experimentally evaluate methods of moving the mobile crane without payload sway; 3) study the operational effectiveness when both the mobile base and crane jib move simultaneously; and 4) study coupling between base crane motion and payload sway. The research will be conducted during a four-month period in Japan from November 2006-Feburary 2007.