The spreader is linked to the crane through the rope, and its motion state is changed complicated in three-dimension with the accelerating and decelerating of trolley, hoist and gantry.
随着起重机大车、小车及起升机构的加速和减速，由钢丝绳连接的吊重的运动状态表现为一个复杂的空间运动。
2
Grab ship unloader with ropetrolley type is the important equipment used for unloading buck ship in whole world's ports at present.
牵引小车式抓斗卸船机是目前国际国内各港口接卸散货船的重要设备。
3
A control scheme that trolley and pulley blocks can arrive at the preset positions as soon as possible and swinging Angle caused by wire rope and load inertias can be removed is obtained.