Research On The Cooperation Of Several Crawler Cranes

The crawler crane is widely used in the world of building construction and civil engineering, and its lift capacity is larger than other kinds of cranes. There are more and more large and heavy structures which are needed to be carry in construction process. But just one crane usually can't fulfill the task. The use of cooperative cranes can not only implement the task of carrying the heavy structure, but also take full advantage of the equipments, and reduce the cost. The articles talking about several cranes'cooperation just explain how to finish a special transportation, and the movement of each crane is directed by some people in scene. Base on analyzing one single crawler crane's load and movement, this article analyzes the cooperative cranes'load and movement, and provides the method to resolve the problem, as we use several cooperative cranes to carry the structure. The main content of this paper can be concluded as follows:1. According to the general structural characteristics of crawler crane, analyzing and compute it's movement and load. Checking the crane's stability under working conditions, which is affected by heavy weight, inertial force, wind power and other factors.2. Analyzing the load problem when several crawler cranes work together. Provide one method to distribute the load, and show how to calculate.3. Adopting the method of inverse kinematical calculation, show how to calculate each crawler crane's movement according the structure's movement.4. Explanting the knowledge of computer graphics into the transportation design, using bound box and Cyrus-Beck clipping algorithm to avoid any possibility of collision between load and obstacle.5. Generally design one system to manage, calculate and monitor the data used in the transportation.