Conceptual design of a multiple cable crane for planetary surface operations

Abstract

A preliminary design study is presented of a mobile crane suitable for conducting remote, automated construction operations on planetary surfaces. A cursory study was made of earth based mobile cranes and the needs for major improvements were identified. Current earth based cranes have a single cable supporting the payload, and precision positioning is accomplished by the use of construction workers controlling the payload by the use of tethers. For remote, autonomous operations on planetary surfaces it will be necessary to perform the precision operations without the use of humans. To accomplish this the payload must be stabilized relative to the crane. One approach for accomplishing this is to suspend the payload on multiple cable. A 3-cable suspension system crane concept is discussed. An analysis of the natural frequency of the system is presented which verifies the legitimacy of the concept.