Award Date

8-1-2024

Degree Type

Thesis

Degree Name

Master of Science in Engineering (MSE)

Department

Mechanical Engineering

First Committee Member

Mohamed Trabia

Second Committee Member

Woosoon Yim

Third Committee Member

Brendan O'Toole

Fourth Committee Member

Angel Muleshkov

Number of Pages

167

Abstract

In this thesis a novel spatial model of an overhead crane was developed. The model includes: bridge, trolley, driving and follower wheels for the bridge and trolley, drum, cable, and the payload. The model accounts for the winding/unwinding of the cable around the drum as the payload is raised/lowered. The cable and the payload were considered as rigid bodies with uniformly distributed mass. First, the kinematic equations of the model were developed by using constraint equations. Second, the dynamic equations were derived through use of Newton’s Laws. Developing the rotational dynamic equations required the determination of the angular momentum vectors of the rigid bodies as expressed with respect to an inertial frame. However, the orientations of the rigid bodies were described using Euler angles, which are neither absolute angular coordinates nor described with respect to an inertial frame. Hence, a novel derivation of the angular momentum vector with respect to an inertial frame in terms of Euler angles and local parameters was developed. In addition, a new approach for deriving the dynamic equilibrium torque of the drum was developed; this method used the constraints forces instead of the positions, velocities, and accelerations of the bodies. The motion of the system was simulated with bang-bang inputs and the results prove that the model is stable.

Keywords

Constrained Multi-Body; Euler Angles; Payload Hoisting; Spatial Dynamics; Underactuated; Underdamped

Disciplines

Applied Mechanics | Industrial Engineering | Industrial Technology | Mechanical Engineering

File Format

pdf

File Size

7600KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

Additional Files
Ruesga_Motion Simulation Presentation.mp4 (10644 kB)

Rights

IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

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