Abstract

Influence of the hook parameters including the mass and length on the sway angles in a hydraulic crane was investigated using the Lagrange’s equation to attain the equations of motion for a seven-degrees-of-freedom system. Variations in angular acceleration of sway angles due to the changes of the hook parameters have been the criterion to this consideration. Based on the outcomes, an automatic anti-sway control system was designed. The results indicated that in almost the entire angles of motion, increasing the mass and length of hook diminished the payload sway.

Key words: Equation of motion, Hook, Hook parameters, hydraulic crane, sway angles.