MODELLING AND DESIGN OF AN AIRSHIP CRANE

摘要

This paper presents the design and the dynamic modeling of a Smart Crane called CHAYASC, designed to equip wide-body airship, which has to carry out loading and unloading operations from a certain altitude. The main function of this crane is to lift, stabilize, maneuver and position large loads by having precise control of the position and orientation of these loads according to the six degrees of freedom. The CHAYASC is based in particular on a Cable Driven Parallel Manipulator and will have a dual mission: 1) deposit and arrange the containers in the hold of the airship, 2) lift and stabilize the containers suspended during a sudden movement of the airship under the effect of a gust of wind.