Model 01: harbour crane mechanism

 

Kinematic scheme:

 

Dimensions:

 

 

Measured at model [m]

optimized

a

0.290

(0.290)

b

0.255

0.2315

c

0.053

0.0570

d

0.074

(0.074)

e

0.138

(0.138)

f

0.124

0.1092

φ

180

(180)

 

 

Explanation:

Point C of the coupler plane describes a curve that is partially an approximated straight horizontal line. This traject is marked by yellow dots in the figure. When applied as a crane, a load can horizontally be displaced while no potential energy for the load is required. A relatively light driving motor for the displacements is thus required. The hoisting ropes can be guided by pulleys in the joints. The rope length will then be constant during displacement and no additional height adjustment is needed.

 

Literature:

 

Remarks:

The optimization was performed with the computer program Runmec. The intention was to correct the inaccurate measurement of the model such that the coupler curve would look the same as at the model.

 

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