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Abstract One of the most commonly used pieces of equipment for lifting a load is the equalizer of a crane in shipbuilding production. The equalizer distributes the tension in wire ropes between the load and equipment equally. While the equalizer is composed simply of several fixed and moving pulleys, themechanismof an equalizer is not easy to adapt to physics-based simulations because only onewire rope is coiled around all of the pulleys. Thus, instead of the real mechanism of the equalizer, an alternative mechanism, such as stretching or shortening the initial lengths of the wire ropes, logically, has been used in previous simulations. In this study, a mass-less constraint-based wire rope is adopted to realize the real mechanism of the equalizer. The constant length constraint is used to realize one wire rope among the fixed and moving equalizer pulleys. We derive a discrete Euler–Lagrange (DEL) equation to represent the motion of a multibody system including the constraint wire ropes. The DEL equation is shown to be numerically stable for the case of linear holonomic constraints, such as the constant length constraint. Wetest several series of fixed and moving pulleys andmodel the equalizer based on the real mechanism. Finally, the equalizer based on the real mechanism is applied to two typical lifting cases in shipbuilding production. One is lifting a load using a Goliath cranewith three equalizers and the other is to use a floating cranewith one equalizer and two crawler cranes. As a result, the tensions in the wire ropes connected to the load are adjusted equally as the position of the moving pulleys and the orientation of the equalizer change.
Publication Date 2016-02-01
Role Corresponding Author
Category SCIE
Impact Factor 2.442

Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Simulation of Load Lifting with Equalizers Used in Shipyards", Automation in Construction, Vol. 61, pp. 98-111, 2016.02.01


List of Articles
번호 분류 제목 Publication Date
28 International Journal Myung-Il Roh, "Block Layout Method in the Block Stockyard Based on the Genetic Algorithm", Ocean Systems Engineering, Vol. 2, No. 4, pp. 271-287, 2012.12.01 file 2012-12-01
27 International Journal Sol Ha, Nam-Kug Ku, Myung-Il Roh, Kyu-Yeul Lee, "Cell-Based Evacuation Simulation Considering Human Behavior in a Passenger Ship", Ocean Engineering, Vol. 53, pp. 138-152, 2012.10.01 file 2012-10-01
26 International Journal Sol Ha, Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Implementation of the Submarine Diving Simulation in a Distributed Environment", International Journal of Naval Architecture and Ocean Engineering, Vol. 4, No. 3, pp. 211-227, 2012.09.01 file 2012-09-01
25 International Journal Ji-Hyun Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Engineering Environment for the Process FEED of Offshore Oil and Gas Production Plants", Ocean Systems Engineering, Vol. 2, No. 1, pp. 49-68, 2012.03.01 file 2012-03-01
24 International Journal Nam-Kug Ku, Ara Jo, Sol Ha, Myung-Il Roh, Kyu-Yeul Lee, "Automatic Generation of Equations of Motion for Multibody System in Discrete Event Simulation Framework", Procedia Technology, Vol. 1, No. 1, pp. 55-64, 2012.02.01 file 2012-02-01
23 International Journal Myung-Il Roh, Ju-Hwan Cha, "A Block Transportation Scheduling System Considering a Minimization of Travel Distance without Loading of and Interference between Multiple Transporters", International Journal of Production Research, Vol. 49, No. 11, pp. 3231-3250, 2011.06.01 file 2011-06-01
22 International Journal Ju-Hwan Cha, Seung-Ho Ham, Kyu-Yeul Lee, Myung-Il Roh, "Application of a Topological Modelling Approach of Multi-body System Dynamics to Simulation of Multi-floating Cranes in Shipyards", Journal of Multi-body Dynamics, Vol. 224, No. 4, pp. 365-373, 2010.12.01 file 2010-12-01
21 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Simulation Framework for the Process Planning of Ships and Offshore Structures", Robotics and Computer-Integrated Manufacturing Journal, Vol, 26, No. 5, pp. 430-453, 2010.10.01 file 2010-10-01
20 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Dynamic Response Simulation of a Heavy Cargo Suspended by a Floating Crane Based on Multibody System Dynamics", Ocean Engineering, Vol. 37, No. 14-15, pp. 1273-1291, 2010.10.01 file 2010-10-01
19 International Journal John-Kyu Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Detailed Design and Construction of the Hull of an FPSO(Floating, Production, Storage, and Off-loading unit)", Ships and Offshore Structures, Vol. 5, No. 2, pp. 93-104, 2010.06.01 file 2010-06-01
18 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Optimal Scheduling of Block Lifting in Consideration of the Minimization of Traveling Distance While Unloaded and Wire and Shackle Replacement of a Gantry Crane", Journal of Marine Science and Technology, Vol. 15, No. 2, pp. 190-200, 2010.06.01 file 2010-06-01
17 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Combined Discrete Event and Discrete Time Simulation Framework and Its Application to the Block Erection Process in Shipbuilding", Advances In Engineering Software, Vol. 41, No. 4, pp. 656-665, 2010.04.01 file 2010-04-01
16 International Journal Sang-Uk Lee, Myung-Il Roh, Ju-Hwan Cha, Kyu-Yeul Lee, "Ship Compartment Modeling Based On a Non-manifold Polyhedron Modeling Kernel", Advances In Engineering Software, Vol. 40, No. 5, pp. 378-388, 2009.05.01 file 2009-05-01
15 International Journal Myung-Il Roh, Kyu-Yeul Lee, Woo-Young Choi, Seong-Jin Yoo, "Improvement of Ship Design Practice Using a 3D CAD Model of a Hull Structure", Robotics and Computer-Integrated Manufacturing Journal, Vol. 24, No. 1, pp. 105-124, 2008.02.01 file 2008-02-01
14 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Generation of the Production Material Information of a Building Block and Simulation of the Block Erection for Computer-Aided Process Planning and Scheduling in Shipbuilding", International Journal of Production Research, Vol. 45, No. 20, pp. 4653-4683, 2007.10.01 file 2007-10-01
13 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Generation of the 3D CAD Model of the Hull Structure at the Initial Ship Design Stage and Its Application", Computers in Industry, Vol. 58, No. 6, pp. 539-557, 2007.08.01 file 2007-08-01
12 International Journal Myung-Il Roh, Kyu-Yeul Lee, Woo-Young Choi, "Rapid Generation of the Piping Model Having the Relationship with a Hull Structure in Shipbuilding", Advances In Engineering Software, Vol. 38, No. 4, pp. 215-228, 2007.04.01 file 2007-04-01
11 International Journal Myung-Il Roh, Kyu-Yeul Lee, Seong-Jin Yoo, "An Algorithm for Generating the Hull Structural Analysis Model Using the Seam Information of the Hull Structure at the Initial Design Stage", Journal of Ship and Ocean Technology, Vol. 10, No. 4, pp. 24-33, 2006.12.01 file 2006-12-01
10 International Journal Myung-Il Roh, Kyu-Yeul Lee, "An Initial Hull Structural Modeling System for Computer-Aided Process Planning in Shipbuilding", Advances In Engineering Software, Vol. 37, No. 7, pp. 457-476, 2006.07.01 file 2006-07-01
9 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Development of a 3D CAD System for Modeling Hull Structure at the Initial Ship Design Stage", Ships and Offshore Structures, Vol. 1, No. 2, pp. 135-151, 2006.04.01 file 2006-04-01
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