Auto-leveling control for sinking winch mechanism and experimental validation
Abstract：During the motion of sinking winch mechanism,the platform is prone to tilt and the tension distribution of the cables is not even,which endangers the workers on the platform.An auto-leveling controller was proposed to make the platform keep level and the tension distribution become more even based on the inverse kinematics of sinking winch mechanism.This controller took the pose of the platform and the tensions of cables as the inputs,and outputs the speed variation of the motors to adjust the orientation of the platform and tensions of cables.Two experiments for lifting up and lowering down the platform were performed to validate the performance of the controller.And the experimental results demonstrate that the controller can level the platform and even the tension distribution of the cables effectively.
Keywords：orientation-levelingtension-evensinking winch mechanisminverse kinematics
Publication Date：2012-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 528-532 )