Physics-Based Simulation of Detailed Erection Activities of Construction Cranes
Date Issued
2007
Date
2007
Author(s)
Chi, Hung-Lin
DOI
en-US
Abstract
Construction cranes are one of the most important types of equipment in construction projects, which are essential to transport structural elements and building materials. Efficiency of crane operations may significantly influence the schedule and the cost of a construction project. One of the major problems is that the erection activities are very difficult to be simulated in details. Therefore, this research integrates physics-based simulation for generating practical erection activities that are relevant to complex situations of construction.
The major effort in this research is to develop a numerical model to simulate cranes to realize the physics-based simulations. The numerical model of crane can be generally divided into two sub-models: the manipulation model and the suspension model. The manipulation model was constructed by following the principle of closed-form forward kinematics. It facilitates the computation of the position and orientation of an articulated crane components with respect to the global coordinate by multiplying transformation matrices. The suspension model was formulated by following the principle of constraint-based rigid body dynamics. By describing the joint relationships between connected rigid bodies precisely, the realistic simulation of suspension objects can be obtained.
A prototype system, named Erection Director, was implemented to integrate the manipulation model and suspension model developed in the research. Because the physics-based simulation is available, the computer system allows users to simulate and realistically visualize the erection activities before these activities are performed in the field. Two example cases, one is column erection and the other is dual-crane cooperative erection, were presented to demonstrate the feasibility of these numerical models.
A physics-based environment for simulating detailed erection activities was built in this research. Because the high-fidelity visualizations can be generated in the virtual environment, the engineers can plan the erection activities precisely before the construction. This may increase construction speed, safety, and return on investment (ROI).
Subjects
剛體動力學
前序運動學
工程吊車
物理模擬
吊裝計畫
虛擬實境
機器人學
rigid body dynamics
forward kinematics
construction crane
physics-based simulation
erection planning
virtual reality
robotics
Type
thesis
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