PDF (Mohd Anwar Zawawi) - Universiti Malaysia Pahang

BRIEFING ON Gantry Crane Sys :Model structure• The double-pendulum gantry crane system with its hookand load considered in this work is shown below.• Where x is the cart position, m c is the cart mass, m h is thehook mass and m p is the payload mass.• Meanwhile, θ 1 is the hookswing angle, θ 2 is the loadswing angle, l 1 and l 2 arethe cable length of thehook and load,respectively, and F is thecart drive force.