Motion Analysis of Crane and Application on Virtual Reality

• Main Authors: Ou, Chia Hao, 歐家豪
• Other Authors: T.C. Chen
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/07290894566380458357

碩士 === 國立成功大學 === 機械工程學系 === 86 === In the paper, we develop the equation of motion both in crane of fixed type ancrane of motion type in order to describe the locus of motion. We can developthe equation of motion by Lagrangian equation calculating from kinematic energyand position energy of system. The fixed type of crane needs one set of fivedifferential equation, and the motion type of crane needs one set of six differentialequation. Both of them could describe the locus of motion in threedimensional space:h can solve the solution by numerical Runge-Kutta method and also need the initial condition including position, velocity, accelerationto calculate the locus of motion and showed in figures. We discuss the effectof acceleration caused by external force in vertical angle , radius of motionlocus between mass hanging and fixed type of crane , motion type of crane andalso illustrate from different initial condition and acceleration time range.Then, we set up a example problem in order to decide the most appropriate method of operation. Finally, we introduce the Virtual Reality training system including software, hardware and the status of program made by derived motion equation in the network system. We also explain the way of data transfer betweenprogram and computers.