Abstract
This paper presents distributed parameter dynamical modeling capabilities of single-mast stacker crane structures. In the frame structure of stacker cranes due to external excitation or inertial forces undesirable structural vibrations may arise. These vibrations reduce the stability and positioning accuracy of stacker crane and causes increasing cycle time of storage/ retrieval operation. Thus it is necessary to investigate of these vibrations. In this paper the dynamical behavior of single-mast stacker cranes is approximated by means of distributed parameter models. The first model is a cantilever beam model with uniform material and cross-sectional properties. This model is used to demonstrate fundamental properties of Euler-Bernoulli beam models. The second model is cantilever beam model with variable cross-sectional properties and lumped masses. The eigenfrequencies and mode shapes of this mast-model are determined by means transfer matrix method. In the third model the whole structure of single-mast stacker crane is modeled. Beside the eigenfrequencies and mode shapes of this model the Bodediagrams of frequency response function is also calculated.
Highlights
The advanced stacker cranes in automated storage/retrieval systems (AS/RS) have the requirement of fast working cycles and reliable, economical operation
5 Summary In our paper we introduced a modeling technique based on distributed modeling approach
Three models according to EulerBernoulli beam theory are investigated
Summary
The advanced stacker cranes in automated storage/retrieval systems (AS/RS) have the requirement of fast working cycles and reliable, economical operation. Today these machines often dispose of 1500 kg pay-load capacity, 40-50 m lifting height, 250 m/min velocity and 2 m/s2 acceleration in the direction of aisle with 90 m/min hoisting velocity and 0,5 m/s2 hoisting acceleration. Mast-sway may arise in the frame structure during operation. These vibrations reduce the stability and positioning accuracy of stacker crane and causes increasing cycle time of storage/retrieval operation. In our work we analyze single-mast structures since this configuration is more responsive to dynamical excitations. In order to realize the dynamical investigation of structural vibrations several kinds of models can be chosen with different kinds of results, different application areas and different approximation accuracy
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