NASA NTRS · 19930049913
A two cable, six link boom crane for lunar construction
Abstract
This paper presents the conceptual design and analysis of a modified crane boom and cable suspension which provide contro1 over all six degrees of freedom of a payload. Two cables pass around pulleys to form six links between the payload and boom. A linearization of the pulley mechanics was derived to create finite element models of the system. The models were experimentally verified and used to explore variations of the suspension geometry. Several crane concepts which use the suspension are discussed and illustrated.
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Taylor, Robert M., Mikulas, Martin M., Jr., Hedgepeth, John M.. 1993-01-01. A two cable, six link boom crane for lunar construction. https://ntrs.nasa.gov/citations/19930049913
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