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http://dx.doi.org/10.3795/KSME-A.2010.34.5.597

Design of a Mechanical Joint for Zero Moment Crane By Kriging  

Kim, Jae-Wook (Dept. of Mechanical Engineering, KAIST)
Jangn, In-Gwun (Dept. of Ocean Systems Engineering, KAIST)
Kwak, Byung-Man (Dept. of Mechanical Engineering, KAIST)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.34, no.5, 2010 , pp. 597-604 More about this Journal
Abstract
This study focuses on the design of a mechanical joint for a zero moment crane (ZMC), which is a specialized loading/unloading system used in a mobile harbor (MH). The mechanical joint is based on the concept of zero moment point (ZMP), and it plays an important role in stabilizing a ZMC. For effective stabilization, it is necessary to ensure that the mechanical joint is robust to a wide variety of loads; further, the joint must allow the structures connected to it to perform rotational motion with two degrees of freedom By adopting a traditional design process, we designed a new mechanical joint; in this design, a universal joint is coupled with a spherical joint, and then, deformable rolling elements are incorporated. The rolling elements facilitate load distribution and help in decreasing power loss during loading/unloading. Because of the complexity of the proposed system, Kriging-based approximate optimization method is used for enhancing the optimization efficiency. In order to validate the design of the proposed mechanical joint, a structural analysis is performed, and a small-scale prototype is built.
Keywords
Kriging; Optimization; Mobile Harbor; Zero Moment Crane(ZMC);
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
Times Cited By SCOPUS : 0
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