|SUBJECT:||M.S. Thesis Presentation|
|TIME:||Friday, April 1, 2016, 2:00 p.m.|
|PLACE:||MARC Building, 114|
|TITLE:||A Dual Hoist Crane Robot for Large Area Sensing|
|COMMITTEE:||Dr. William Singhose, Co-Chair (ME)
Dr. Jonathan Rogers, Co-Chair (ME)
Dr. Kok-Meng Lee (ME)
Cranes are used to lift and move large objects in a wide variety of applications including constructions sites, ports, and manufacturing facilities. If the load to be moved is too long or heavy for a single crane, two cranes must work in unison to achieve the desired outcome. In a factory setting this can be accomplished using two trolleys running along the same bridge forming a Dual Hoist crane. Using two hoists not only increases lifting capacity, it also increases stability of the payload over traditional single hoist configurations. This research takes advantage of that increased stability and explores a novel application for dual hoist cranes, suspending a robot arm from the hooks. This increases the workspace of the robot to the entirety of the space covered by the crane, opening up numerous applications not possible with the robot alone. In order to better understand and characterize the dynamics of the system, a numerical model was developed and tested against the physical system to confirm its validity.