Study on Kinematics Modeling of Loads for Shipborne Crane

摘要

For the inchoate study on the carrier crane, the characteristics of it are not well known, Especially, the three-dimensional spatial kinematics characteristics of the loads while the ship is rolling have not been studied yet. Using the modeling methods of usual manipulators and based on the kinematics in a non-inertial frame, this paper builds a kinematics model of the loads for the ship borne crane, which not only can describe the influence of the ship's rolling but also the movements with big angles of the crane's end-wire rope-loads. The model provides the essential mathematics model for the kinematics study of the carrier crane. What's more, a group of simulation curves is been put up with.