|
Original Date: 11/03/1996
Revision Date: 01/18/2007
Information : Damped Motion for Suspended Payloads in Overhead Cranes
Oak Ridge National Laboratory (ORNL) and Sandia National Laboratories teamed to develop and test algorithms for damped-oscillation, swing-free transport of suspended payloads. Transportation of objects using overhead cranes can induce pendulum motion of an object. This motion is an undesirable function for remotely controlled cranes in nuclear waste handling areas. The motion usually must be damped or allowed to decay before the next operation can take place. Several minute delays may result from this pendulum action. Damped oscillation transport and swing free stops are possible by properly programming the acceleration of the transporting crane.
Sandia National Laboratories developed the damping algorithms that require closed loop positioning, robotic motion, trajectory planning, and programmable acceleration profiles. A full scale test of this capability was conducted at ORNL. The test setup was based on a 27-foot cable and a 55-gallon drum containing an approximately 900-pound weight, and tests were conducted over a U-shaped path. Without damping, the pendulum produced up to three feet of oscillation. With the application of the damping algorithms, less than .5-inch of residual swing resulted. This system can be applied to many commercial overhead crane and robotic applications.
For more information see the
Point of Contact for this survey.
|
