Model 01: harbour crane mechanism
Kinematic scheme:
Dimensions:
|
|
Measured at
model [m] |
optimized |
|
a |
0.290 |
(0.290) |
|
b |
0.255 |
0.2315 |
|
c |
0.053 |
0.0570 |
|
d |
0.074 |
(0.074) |
|
e |
0.138 |
(0.138) |
|
f |
0.124 |
0.1092 |
|
φ |
180° |
(180°) |
Explanation:
Point C of the coupler plane describes a curve that is
partially an approximated straight horizontal line. This traject is marked by
yellow dots in the figure. When applied as a crane, a load can horizontally be
displaced while no potential energy for the load is required. A relatively
light driving motor for the displacements is thus required. The hoisting ropes
can be guided by pulleys in the joints. The rope length will then be constant
during displacement and no additional height adjustment is needed.
Literature:
Remarks:
The optimization was performed with the computer
program Runmec. The intention was to correct the inaccurate measurement of the
model such that the coupler curve would look the same as at the model.