Influence of the Rope Sling System on the Dynamics of a Carried Load

The chapter examines the influence of the rope sling system on the load dynamics. The considered crane is modeled in the form of a tree structure composed of a main kinematic chain and two auxiliary chains. The carried load is modeled as a cylinder suspended on one, three, or four rope(s) and as a box suspended on one, two, or four rope(s) of the sling system. The numerical results obtained for these models are compared with the simplified model in which the load is treated as a lumped mass suspended on a single rope.