Tripod Crane Concept for Lunar Surface Constructionby Haruyuki Namba, Shimizu Corp, Tokyo, Japan,
Martin M. Mikulas, Jr., Shimizu Corp, Tokyo, Japan,
Abstract: A construction scheme using three integrated cranes is proposed. Mikulas proposed a lunar crane concept which introduces a set of three cables in order to stabilize the payload. This paper describes an alternate version of the three cable crane concept which introduces an integration of three simple cranes instead of a crane with three cables. This paper describes overall features of this tripod crane concept and presents the multi-body dynamic equations of motion which are required for 3-D dynamic simulations. The equations of motion of the tripod crane in its simplest configuration are derived as an example.
Subject Headings: Cables | Cranes | Equations of motion | Space construction | Moon | Payloads | Three-dimensional models
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