Introduction

Abstract

Cranes are material handling machines, which are used in different industries (i.e., construction, manufacturing, shipbuilding, and freight handling) for transporting heavy materials that humans cannot handle. Cranes have the capability of moving the load vertically (i.e., lifting up and lowering) and also in a horizontal plane, either along a straight or a curved path. In order to meet the requirements of handling a specific load in various industries, cranes with different operating mechanisms are utilized. For lifting a load, a hoisting mechanism is used, which consists of either a single or a set of multiple ropes suspended from the support mechanism of the crane. A gripper or a hook at the bottom free end of the rope(s) grasps the load, while an actuator/motor located at the top rope support mechanism hoists up and down the load by using a system of sheaves.