The design of a proposed new mechanism for the self-loading of shipping containers ontotruck-trailers is described. The mechanism possess a complex array of interconnected hydraulic cylinders and has the ability to load from either side of the trailer. The objectiveof the research was to design, build and control a half-scale working model of the proposed mechanism in order to determine whether or not the concept of the design could berealised.The mechanical design, hydraulic circuit, and kinematic analysis for the half-scalemodel are discussed in prelude to the controller design. A combined feedforwardfeedbackcontrol strategy driven by teleoperator rate commands was found to be an effective wayto control the mechanism.In conclusion the research was successful. The design concept was proven to workand the controller was shown to provide excellent tracking performance. Work is nowcontinuing on the design and development of a full-sized prototype.
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