Abstract
Rubber Tire-mounted Gantry crane (RTG) is designed in a big gantry structure, and features some degree of flexibility and high position of its center of gravity. This results in a large influence against the travelling performaoces. The main factors affecting on the crane behavior (pitching romng and yawing) are the torque variation of the gantry-travel motors due to the road roughnes and inclination and the dynamic interactive forces between the tires and runway surface during the travelling motion. Based on both the experiments by actual RTG and simulation analysis, this paper clarifies the influence of the crane behavior on the travelling traiectory during straight travelling.
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