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@PHDTHESIS{Haarhoff:825308,
author = {Haarhoff, Daniel Augustinus},
othercontributors = {Brell-Cokcan, Sigrid and Schmitt, Robert H.},
title = {{M}omentum control for crane load stabilization : modeling
and sizing of control moment gyroscopes for cranes},
school = {Rheinisch-Westfälische Technische Hochschule Aachen},
type = {Dissertation},
address = {Aachen},
publisher = {RWTH Aachen University},
reportid = {RWTH-2021-08190},
pages = {1 Online-Ressource : Illustrationen},
year = {2021},
note = {Veröffentlicht auf dem Publikationsserver der RWTH Aachen
University; Dissertation, Rheinisch-Westfälische Technische
Hochschule Aachen, 2021},
abstract = {The digitalization of the construction industries planning
and execution phases, coupled with advances in automation
technology has led to a renaissance for construction
robotics. Current efforts to provide robots for the
execution of digital construction plans revolve around
either the adaptation of industrial robots for the
construction site, highly specialized custom robots or the
digitalization of existing construction equipment. However,
there is currently no robotics approach that addresses the
very large work envelope that constitutes a construction
site. This work therefore evaluates the feasibility of
operating robots and other kinematic systems hanging from a
regular crane. A crane's hook is not a stable base for a
robot. Movements of the robot as well as external forces
would lead to motions and oscillations. The robot would
therefore not be able to execute accurate movements.
Stabilizing a platform at the hook to create a useable base
for robots requires adding further means of control to said
platform. Three approaches are known: additional ropes,
propulsive devices and momentum control devices. This work
studies the use of a specific type of momentum control
device, so called control moment gyroscopes. These are an
established technology for the stabilization of ships and
also the reorientation of spacecraft. By gimbaling a fast
spinning rotor orthogonal to its axis of rotation, CMGs are
able to generate torque through the principle of gyroscopic
reaction. They are thereby able to generate torque in
mid-air and unlike additional ropes or propulsive devices do
not interfere with their environment. The following work
develops equations of motion and a model for the
crane-CMG-robot system. A general control strategy is laid
out and a simple PD-based controller is designed. The model
is validated through a variety of simulations and used to
understand the critical interactions between the three
systems. The ability of a CMG platform to predictively
compensate the torques produced by a robot and thereby
improve its path accuracy is shown through simulation. It is
also shown how such a platform can help dampen hook and load
oscillations. The simulations not only show the potential of
the approach, but also allow the work to develop sizing
guidelines and identify critical areas for future research.
The work therefore closes by laying out the critical path to
bringing this approach to the construction site.},
cin = {211510},
ddc = {720},
cid = {$I:(DE-82)211510_20170101$},
typ = {PUB:(DE-HGF)11},
doi = {10.18154/RWTH-2021-08190},
url = {https://publications.rwth-aachen.de/record/825308},
}
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