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Dynamics Analysis of Underactuated Cherrypicker Systems with Friction

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Neural Information Processing (ICONIP 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10639))

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Abstract

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.

Yiming Wu and Yifa Liu contribute equally to this paper.

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Notes

  1. 1.

    In Case 1, the simulation results are only used to testify the correctness of the model without considering the angular constraints. Actually, the joint angle constraints of a practical cherrypicker (usually \(-\pi /2\le \theta _1\le \pi /2,0\le \theta _2\le \pi /2,-\pi \le \theta _3\le \pi \)) can be easily realized by mechanical design.

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Acknowledgments

This work is supported by the National Natural Science Foundation of China under Grant 61503200, the Natural Science Foundation of Tianjin under Grant 15JCQNJC03800, and the China Postdoctoral Science Foundation under Grant 2016M600186 and under Grant 2017T100153.

Author information

Authors and Affiliations

  1. Institute of Robotics and Automatic Information System (IRAIS), College of Computer and Control Engineering, Nankai University, Tianjin, China

    Yiming Wu, Yifa Liu, Ning Sun & Yongchun Fang

  2. Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin, China

    Yiming Wu, Yifa Liu, Ning Sun & Yongchun Fang

Authors
  1. Yiming Wu
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  2. Yifa Liu
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  3. Ning Sun
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  4. Yongchun Fang
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Corresponding author

Correspondence to Ning Sun .

Editor information

Editors and Affiliations

  1. Guangdong University of Technology, Guangzhou, China

    Derong Liu

  2. Guangdong University of Technology, Guangzhou, China

    Shengli Xie

  3. South China University of Technology, Guangzhou, China

    Yuanqing Li

  4. Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Dongbin Zhao

  5. King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia

    El-Sayed M. El-Alfy

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Wu, Y., Liu, Y., Sun, N., Fang, Y. (2017). Dynamics Analysis of Underactuated Cherrypicker Systems with Friction. In: Liu, D., Xie, S., Li, Y., Zhao, D., El-Alfy, ES. (eds) Neural Information Processing. ICONIP 2017. Lecture Notes in Computer Science(), vol 10639. Springer, Cham. https://doi.org/10.1007/978-3-319-70136-3_37

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  • DOI: https://doi.org/10.1007/978-3-319-70136-3_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70135-6

  • Online ISBN: 978-3-319-70136-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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