4-DOF Dynamic Model of the Container Crane Spreader

The sense of behaving reality in the container crane simulator depends on the dynamic model of the crane spreader in three-dimensional space. The movement of simulating objects in the crane container simulator is discussed. Simulating objects include gantry, trolley and spreader. The paper adopts the second Lagrange equation. Through reasonable hypothesis, 4-DOF dynamic model of the spreader is derived in the generalized coordinates system. With the different length of sling and acceleration of the trolley, 4-DOF model is analyzed by dynamic simulation. Matters needing attention are summarized for the process of container handling. At last the paper gives a simulation example.

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