Sonsivri
 
*
Welcome, Guest. Please login or register.
Did you miss your activation email?
December 06, 2016, 10:45:57 22:45


Login with username, password and session length


Pages: [1]
Print
Author Topic: Boom arm active stabilization  (Read 1214 times)
0 Members and 1 Guest are viewing this topic.
Parmin
Hero Member
*****
Online Online

Posts: 544

Thank You
-Given: 357
-Receive: 126


Very Wise (and grouchy) Old Man


« on: April 19, 2012, 03:58:43 03:58 »

Has anyone work on boom arm stabilization?
I need to make a stabilizer system for a ship boom crane arm.

The idea is that moving items from ship to ship using  boom arms involves the need for the boom arms to be stabilized in 3D space independent to the movement of the ships.
Thus the arms are to be able to hold onto a steady position in the 3D space between both ships in real rocking motions to transfer items across.

I reckon the idea is similar to a tank pointing its gun barrel to a target while moving in an undulated terrain, the barrel is gyro stabilized against the movement of the tank.

If anyone have done similar stuff, could you share your technique?

Par.
Logged

If I have said something that offends you, please let me know, so I can say it again later.
solutions
Hero Member
*****
Offline Offline

Posts: 1446

Thank You
-Given: 590
-Receive: 851



« Reply #1 on: April 19, 2012, 07:25:56 07:25 »

Actually a tank barrel is a lot easier - due to its stiffness, you can just servo it at the gimbal and be done with it.  I'd put a 3D gyro at the boom tip and then create a model of the beam behavior dynamics (deflection, stiffness, and resonance) and embed that model into the servo loop that runs off the gyro telemetry.You have to actively damp the floppiness of the boom as you move it....via its pivot point. I'd think Labview might be the best tool for all this.

Sounds like a fun project.  Hopefully to be used for good, not evil....
Logged
Parmin
Hero Member
*****
Online Online

Posts: 544

Thank You
-Given: 357
-Receive: 126


Very Wise (and grouchy) Old Man


« Reply #2 on: April 20, 2012, 02:04:08 02:04 »

The boom arm I have is very stiff indeed, they are definitely stiff enough to do the job for the weight involved.
Ie. the booms are designed to carry 350 KG and the load to be transferred at any time is less than 15 kg.
So it actually can do without flexing.
The motor can do the job easily too for they are 24V 125A servo motors.

I sort of have an idea on how to approach this problem, its just that I would not want to re-invent the wheel..
These type of system are common, but I cannot find much writings of them.
Maybe my search-Fu need some polishing.
Logged

If I have said something that offends you, please let me know, so I can say it again later.
Parmin
Hero Member
*****
Online Online

Posts: 544

Thank You
-Given: 357
-Receive: 126


Very Wise (and grouchy) Old Man


« Reply #3 on: April 21, 2012, 03:24:35 03:24 »

Well,  Bugger me!

Solved the problem easier than I thought!!

I simply used FUTABA Gyro modules GY401 for the positional gyro data and it works just like that.
Logged

If I have said something that offends you, please let me know, so I can say it again later.
Ichan
Hero Member
*****
Offline Offline

Posts: 840

Thank You
-Given: 312
-Receive: 387



WWW
« Reply #4 on: April 23, 2012, 06:55:44 18:55 »

Quote
Hopefully to be used for good, not evil....

Buccaneer? Then captain Jack Sparrow would like to have it...  Grin Cheesy Wink Smiley

Seriously, I am interested to know more about your work - if you willing to. Is it use 3 servo?

-ichan (not a buccaneer nor smuggler)
Logged

There is Gray, not only Black or White.
Pages: [1]
Print
Jump to:  


DISCLAIMER
WE DONT HOST ANY ILLEGAL FILES ON THE SERVER
USE CONTACT US TO REPORT ILLEGAL FILES
ADMINISTRATORS CANNOT BE HELD RESPONSIBLE FOR USERS POSTS AND LINKS

... Copyright 2003-2999 Sonsivri.to ...
Powered by SMF 1.1.18 | SMF © 2006-2009, Simple Machines LLC | HarzeM Dilber MC