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Abstract

This paper presents the kinematics of a spreader suspended by four cables, which is widely used in industrial gantry cranes. The approach is based on the minimum energy principle, which provides exact solutions to the kinematics of the spreader. The energy consists of potential energy of the spreader and elastic deformation energy of suspension cables. By minimizing the sum of energy, tensions and elongations of cables are obtained and the kinematics of the spreader is determined in a natural way. Through numerical simulations, various results for the kinematics of the spreader are presented for a typical gantry system for parallel cabling and non-parallel cabling. The results include transition from the four-cable suspension state to a three-cable suspension one. For non-parallel cabling, variation of various physical quantities with respect to the form factor is illustrated.

Keywords

kinematics gantry crane spreader multicable suspension energy method elastic energy potential energy parallel cabling non-parallel cabling

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A unified approach to the kinematics of a spreader suspended by multiple cables

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