Crane CG Compensator

International projects, such as the Nuscale Small Modular Reactor (SMR), rely on complex machinery such as cranes. The complex manoeuvres required for the assembly of Nuscale nuclear reactors oblige the crane to be robust, powerful, unmanned, but more importantly very accurate and stable.

The precision and stability of cranes are to be affected by the characteristics of the various payloads which may have off-centered center of mass. This will affect the payload equilibrium position (tilted position). It is an important issue as it may negatively impact the nuclear assembly process.

This mechatronics project focuses on the stability and control of off-centered center of gravity (CG) payload for cranes. A small replica of the Nuscale project crane will be designed and built to demonstrate that adequate control may permit the crane to lift and displace with precision, payloads with off-centered center of gravity.

Meet The Team

Sean Cai

Mechanical Subsystem Lead

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Zulfiqar Zaidi

Electrical Subsystem Lead

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Tristan Calvet

Project Manager

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FINAL PROTOTYPE

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Mode 1

Flow Chart

Lifting and self-leveling a payload that is initially resting on a flat or slightly tilted (≤ 10°) surface.

 

Mode 2 

Flow Chart

Self-leveling a payload which possesses a random initially unknown angular position in the air.

 

Mode 3 

Flow Chart

Lifting a payload resting initially on an inclined surface, moving it up while keeping the same angle, then self-leveling it (horizontal angular position) in the air.

 
Lines Of Code

ARDUINO CODE

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MODE 1

MODE 2

MODE 3

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Behind the scene

TESTING THE STEPPER MOTOR TORQUE

TESTING THE STRENGTH OF THE ROPE