Abstract
A systematic method to analyze the trajectory of hook block for polar crane in nuclear power plant (NPP) is proposed, in which dynamic equations of the system and the compatibility conditions for drum parameters are presented. Properties and formulations of the variables involved in these equations are studied in detail. A method to describe the rope-pulley system is given and a numerical method is derived to solve the positions and velocities of the common tangents that consistent with the reeving ropes between spatial pulleys. Based on these displacements and velocities, the angular speeds of pulleys are given to solve the difficulty to confirm the rotating directions of pulleys in some rope-pulley systems. A numerical example contrasting the dynamic model with corresponding static model is demonstrated to validate the systematic method. The proposed method is largely universal and can be a reference for designing and analyzing of polar cranes in NPP.
Highlights
Nowadays varieties of cranes are widely used in industrial manufacture
The common drum has a groove of helical line for the polar crane in nuclear power plant (NPP) as shown in Fig. 9 and it is difficult to confirm the trajectory of the rope tangent point on the drum
While the polar crane in NPP works, the load trajectory is usually unavoidable to swing around the equilibrium path, which is not a vertical line strictly
Summary
Nowadays varieties of cranes are widely used in industrial manufacture. With the rapid development of the modern science and technology, the expansion of industrial production and the improvement of automation, the requirements of crane are growing, which makes the modern crane developed more durable, specialized and reliable. Took the trolley moving into account, the controls of the load-deflections were studied in some literatures [1,2,3], while in literatures [4,5,6] the dynamic responses of the crane structure were discussed. These studies solved many problems on operation schemes and structural designs of the cranes, most of them simplified the rope-sheave system as a pendulum or double pendulum system, or considered the plurality of ropes as a flexible cable. Taking physical structure of the mechanism into account, a systematic method for analyzing the load trajectory of rope-pulley system is presented in the paper.
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