• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1788-1791
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• 1997

In this paper constant-level luffing and time optimal control of a JIB crane is investigated. The crane is assumed to have only the derricking motion. the analysis of plance kinematics provides the relationship between the boom angle and the main hosit motor angle for constant-level luffing. The dynamic equations for the crane are very nonlimear, and therefore they are linearized for the application of the linear control theory. The time optimal control in the perspective of no-sway at the end of boom stroke is investigated.

• Korean Journal of Metals and Materials
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• v.48 no.6
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• pp.489-497
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• 2010

The remaining life estimation of the level luffing crane component, which has operated for about 20 years is examined carefully, especially on the crane structures. To analyse the crane sructures, the basic load and load combination needed to be considered. We modeled various parts of the level luffing crane to analyse fatigue. Fatigue analysis results showed that the level luffing crane is in the fatigue life so that the crane is in the safe state in fatigue cumulative damage. Analysis results show that the remaining life of a jib upper beam would be about 10 years therefore, the level luffing crane should be stable for fatigue for that period.

• Journal of Korean Society of Steel Construction
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• v.12 no.6
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• pp.715-725
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• 2000

As a link composition of a double link type level luffing jib crane was determinated through the link composition design, the design to be considered will be computations of the luffing trajectory deviation at the fly jib tip and the required luffing device capacity. This paper is a study regarding the static and dynamic analysis for a mechanism of the crane. The objective of the static analysis is to determinate the capacity and the dimension of luffing device when the crane selfload, rated hoisting load, wind load and inertia force are applied on the crane. The objective of dynamic analysis is to compute the luffing trajectory deviation, velocity and inertia force due to luffing acceleration for each link. All analyses are performed by computer programs. The reliability of the program was checked by results from analyses of the related commercial package. It is expected that the productivity and reliability of the design can be improved by this program which can rapidly and exactly deal with static and dynamic analysis for a given link composition of the crane.

• Journal of Power System Engineering
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• v.15 no.1
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• pp.57-63
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• 2011

It is very important to determine link composition of a crane in the basic design of the crane. There are many parameters in the design for the link composition of a double link type level luffing jib crane. We analyze the variation of link composition according to the variation of these parameters which are the angle of fixed link, the angle between the fixed link and backstay when the position of the crane is the maximum working radius, the ratio of fly jib length between two moving hinges to the total length of fly jib, the length of backstay, and the slewing radius. In this paper, we describe the application of the previous analysis program of the link composition design for a double link type level luffing jib crane.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.983-990
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• 2013

Evaluation of the structural analysis for a 70/15 ton${\times}$105 m LLC (Level Luffing Crane) was conducted with an FEM Tool. Due to a discordance of the modeling and element type, the LLC was progressively analyzed after dividing it into the boom, main structure and rocker. All loads such as slewing, traveling and wind load, etc., that are indicated in the reference standards, were inputted as various severe conditions of the LLC. The deformation, equivalent stress(Von Mises stress), buckling characteristics were evaluated for the LLC structures. The stress concentrated areas over the allowable stress were identified, and reinforcement work was performed with a stiffener.

• Journal of Power System Engineering
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• v.13 no.1
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• pp.19-25
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• 2009

This paper is a study on the link composition design of a double link type level luffing jib crane using path generation synthesis passing through three precision points according to parameters, the length of backstay, the ratio of fly jib length between two moving hinges to the total length of fly jib, the location of a intermediate passing point etc. when the maximum and minimum working radius of the crane are given. The performance of the crane depends on the deviation of the luffing trajectory at fly jib tip. The luffing trajectories according to the above parameters are analyzed and shown in graphs by the developed computer program. In a real-life design, some trials are needed to arrive at a proper link composition design. Therefore, it is expected that the present computer program can rapidly and exactly deal with a link composition design proper to the design criteria of the crane.

• Journal of Ocean Engineering and Technology
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• v.19 no.1 s.62
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• pp.87-94
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• 2005

This paper investigates the constant-level luffing and time optimal control of jib cranes. The constant-level luffing, which is the sustainment of the load at a constant height during luffing, is achieved by analyzing the kinematic relationship between the angular displacement of a boom and that of the main hoist motor of a jib crane. Under the assumption that the main body of the crane does not rotate, the equations of motion of the boom are derived using Newton's Second Law. The dynamic equations for the crane system are highly nonlinear; therefore, they are linearized under the small angular motion of the load to apply linear control theory. This paper investigates the time optimal control from the perspective of no-sway at a target point. A stepped velocity pattern is used to design the moving path of the jib crane. Simulation results demonstrate the effectiveness of the time optimal control, in terms of anti-sway motion of the load, while luffing the crane.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.6
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• pp.526-532
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• 2008

Structure evaluation for 70/15 $T{\times}105\;m$ LLC(Level Luffing Crane)'s boom was conducted by Finite Element Method. Boom modeled with beam element was fixed by luff rope and boom mount and was received loads from self weight, luff hoisting, traveling motion, slewing motion, and wind force, etc. These applied loads were calculated using various factors presented in the reference standards and were inputted in the analysis model after considering about the adverse conditions of LLC. In the research, deformation, stresses, buckling of boom were evaluated by ANSYS. Structural safety of boom was confirmed in the results of numerical analysis.

• Journal of the Korean Society of Safety
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• v.16 no.4
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• pp.65-73
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• 2001

This paper is a study on the fatigue analysis using BS5400 Part10(1980), code of practice for fatigue for a double link type level luffing jib crane which has been operated since the crane was built in 1985 at a domestic pier. South Korea. In addition, on the basis of the design lift due to fatigue analysis and the number of cracks detected from the nondestructive test the structural reliability and the residual life of the crane is predicted by evaluating the expected development of detectable fatigue oracle during the next five to ten years using Paris's Law for predicting fatigue crack growth and Gaussian probability density function to be reasonable for stress ranges below the mean values determined by laboratory tests. The statistical data used for the analysis of the structural reliability and life expectancy is given in the above referred code.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.250-256
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• 2009

This paper presents a robotic tower-crane system using encoder and gyroscope sensors as path tracking devices. Tower crane work is often associated with falling accidents and industrial disasters. Such problems often incur a loss of time and money for the contractor. For this reason, many studies have been done on an automatic tower crane. As a part of 5-year 23-million-dollar research project in Korea, we are developing a robotic tower crane which aims to improve the safety level and productivity. We selected a luffing tower crane, which is commonly used in urban construction projects today, as a platform for the robotic tower crane system. This system comprises two modules: the automated path planning module and the path tracking module. The automated path planning system uses the 3D Cartesian coordinates. When the robotic tower crane lifts construction material, the algorithm creates a line, which represents a lifting path, in virtual space. This algorithm seeks and generates the best route to lift construction material while avoiding known obstacles from real construction site. The path tracking system detects the location of a lifted material in terms of the 3D coordinate values using various types of sensors including adopts encoder and gyroscope sensors. We are testing various sensors as a candidate for the path tracking device. This specific study focuses on how to employ encoder and gyroscope sensors in the robotic crane These sensors measure a movement and rotary motion of the robotic tower crane. Finally, the movement of the robotic tower crane is displayed in a virtual space that synthesizes the data from two modules: the automatically planned path and the tracked paths. We are currently field-testing the feasibility of the proposed system using an actual tower crane. In the next step, the robotic tower crane will be applied to actual construction sites with a following analysis of the crane's productivity in order to ascertain its economic efficiency.