Dynamic Behavior of Rubber Tire-mounted Gantry Cranes : 3rd Report, Power-Line Characteristics and Straight Travelling Performances

Abstract

Rubber Tire-mounted Gantry (RTG) cranes are not equipped with the mechanical steering device, but steered by means of the differential rotational velocity of the driving wheels on right and left sides. Accordingly, the power line design is the most important for the optimization of RTG's travelling performance. Herein this paper, the characteristics of the driving motors and tires, and the dynamic analysis with FEM in travelling are described. The effects of them over the straight travelling perfomance are discussed. As for the tire characteristics, the effectiveness of rolling resistance, friction coefficient, cornering stiffness and rolling radius are proved to be mostly concerned to the straigh ttravelling performance. The four corners drive system is proved to improve the straight-travelling better compared to the two opposite corners driven system.