The cherrypicker system has long mechanical arms and an unactuated bucket, which helps raise up workers to implement difficult aerial works on high up towers, power lines, and buildings. However, due to the gravity and inertia, the bucket has residual vibration which brings safety concerns. In order to design controllers to suppress the oscillation, this paper first provides a dynamic model of a two-armed cherrypicker system with friction by using Lagrange’s modeling method and also derives the matrix form dynamic equation. Numerical simulation results verify the feasibility of the model.
CITATION STYLE
Wu, Y., Liu, Y., Sun, N., & Fang, Y. (2017). Dynamics analysis of underactuated Cherrypicker systems with friction. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10639 LNCS, pp. 345–354). Springer Verlag. https://doi.org/10.1007/978-3-319-70136-3_37
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