Lumped Mass Models of Rotary Cranes
As discussed in Chap. 1, rotary cranes comprise tower cranes and boom cranes. In this chapter, we will discuss the dynamics of both the tower and boom crane systems. The operation of a tower crane consists of a slew motion of the jib, a translational motion of the trolley along the length of the jib, and a hoisting motion of the payload. The operations of a boom crane include slewing and luffing movements of the boom together with a hoisting motion of the payload (Ito et al. 1978).
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