Research on Modeling Method of Cooperative Lifting of Multiple Crawler Cranes

Cooperative lifting of multiple crawler cranes is researched. Based on the modeling technology of single crane and double cranes, the multi-closed chain among the lifted object and cranes is analyzed, and the corresponding mathematical model of multi-crane system is established. It is a statically indeterminate problem because there are more than 3 cranes to lift one object. So, deformation condition is introduced to change this problem into a statically determinate problem. The method is proposed to obtain the load of each crane according to deformation condition. By case analysis and comparison of results, this proposed method is verified to have good applicability for mechanics analysis of multi-crane lifting system when the lifted object has strong rigidity.