Design of an Airship On-Board Crane

This paper presents the design and mathematical model of an innovative smart crane, CHAYA-SC, based on principle a cable-driven parallel manipulator, as well its stabilization. crane is mounted airship hold intended for handling at altitude. Our objective to precise light that can be used container loading or unloading, particularly in deep-sea ports. Thus, developed includes oscillations transverse longitudinal vibrations heavy cable supporting load handled. The highly nonlinear partial differential equations (PDE) ordinary derivative (ODE) govern motion system are obtained via Lagrange coupled with modal synthesis. So compatible control real time, we simplified dynamic which proved equivalent complete model. As first validation modelling, simple vector applied stabilize under effect squall. Numerical simulations presented end show relevance design.