Dynamic simulation of stacker cranes considering elastic vibration of masts

Abstract

In this study, we consider a dynamic simulation method that takes into consideration the coupling of elastic vibration of the mast and lifting motion of the platform strictly for a stacker crane for an automated warehouse. Here, the equations of motion of the mast is derived based on the floating frame of reference formulation, and the motion of lifting and lowering the platform along the mast is formulated by the sliding joint including the dummy variable. In this research, target trajectory is generated by B-spline function. Then, it analyzes how the elastic vibration changes depending on the control method used. After that we also consider the optimal trajectory planning problem to reduce residual vibrations. Through the numerical simulations, we verify the effectiveness of the developed stacker crane high precision simulator.