Natnael getasew, abel gebremedhin, yonatan yakob, abel tesfaye

Department of mechanical and electrical engineering, university of electronic science and

technology of china, china, E-mail: yonatanyakob52@gmail.com.

Abstract
This paper proposes design and analysis of a working prototype of mobile crane which is
realized based on four bar mechanism. Mobile crane, uses one or more simple machines
to create mechanical advantage and thus move loads beyond the normal capability of a
human. From defining and explaining the parts used in the prototype we further try to
describe the operating systems. How the parts are interconnected to each other and work
instantaneously to make the desired output is also included. The mobility of the vehicle
and the movement of the four-bar linkage is controlled by using the Arduino device. The
vehicle and parts of the crane are moving using our mobile phone (using Bluetooth). It
has also included that how the software is integrated to different parts of the crane and the
Arduino programming commands. The Grashof condition for double rocker system
controlled by servomotor is included on this paper. Reliability and safety matters are also
included for better usage of mobile cranes.

Keywords: Servo motor, Wheel, four bar linkage, DC motor controller, Micro controller,
turn table, potentiometer

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Contents

1. Introduction ………………………………………………...1
2. Definition …………………………………………………...1
3. History ……………………………………………………...2
4. Components………………………………………………...2
4.1 Dc motors …………………………………………….2
4.2 Gearbox.……………………………………………...3
4.3 Wheel ………………………………………………...4
4.4 Hook ………………………………………………….4
4.5 Potentiometer ………………………………………...4
4.6 Servomotor …………………………………………...5
4.7 DC Motor Driver Circuits ………………………….6
4.8 Arduino ………………………………………………7
4.9 Planar four-bar linkage …………………………......8
4.10 Planar quadrilateral linkage ……………………...9
5. Control system …………………………………………….14
5.1 Remote control ………………………………………...16
6. Working principle …………………………………………16
6.1 Arduino ………………………………………………16
6.2 Four bar mechanism ………………………………...19
7. Reliability and safety ……………………………………...20
8. Conclusion …………………………………………………21
9. References ………………………………………………....22

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1. Introduction
Despite the fact that they are not the most powerful machines on the planet, mobile
cranes are the back bones of the manufacturing industry. They got one more advantage
over crane towers, that is mobility. In some situations, the main attribute is mobility, not
big lifting-capacity, for such kind of situations usage of mobile cranes will be ideal.
These machines can be driven on the highway like an ordinary car. They don’t need
additional truck to move them. Our team considered these things and decided to make a
prototype of a mobile crane. The prototype is made by hand, it’s not 3D printed. We used
analogous parts of the cranes to make the smaller version. We used what we learned on
the mechanical design course to design and build the crane. The idea of the four-bar
mechanism is used to make the weight lifting mechanism. The idea of the gear and
gearbox is used at the wheel drives. The force balance of the system is maintained. We
think that the prototype shows most of what we learned from the course.

2. Definition
A crane is a type of machine, generally equipped with a hoist rope, wire ropes or chains,
and sheaves, that can be used both to lift and lower materials and to move them
horizontally. It is mainly used for lifting heavy things and transporting them to other
places. The device uses one or more simple machines to create mechanical advantage and
thus move loads beyond the normal capability of a human. Cranes are commonly
employed in the transport industry for the loading and unloading of freight, in the
construction industry for the movement of materials, and in the manufacturing industry
for the assembling of heavy equipment.

There are four principal types of mobile cranes: truck mounted, rough-terrain, crawler,
and floating. A truck-mounted crane has two parts: the carrier, often referred to as the
lower, and the lifting component which includes the boom, referred to as the upper.
These are mated together through a turntable, allowing the upper to swing from side to
side. These modern hydraulic truck cranes are usually single-engine machines, with the
same engine powering the undercarriage and the crane. The upper is usually powered via
hydraulics run through the turntable from the pump mounted on the lower. In older model

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designs of hydraulic truck cranes, there were two engines. One in the lower pulled the
crane down the road and ran a hydraulic pump for the outriggers and jacks. The one in
the upper ran the upper through a hydraulic pump of its own.

3. History
The crane for lifting heavy loads was invented by the Ancient Greeks in the late 6th
century BC. The archaeological record shows that no later than c. 515 BC distinctive
cuttings for both lifting tongs and Lewis irons begin to appear on stone blocks of Greek
temples. Since these holes point at the use of a lifting device, and since they are to be
found either above the center of gravity of the block, or in pairs equidistant from a point
over the center of gravity, they are regarded by archaeologists as the positive evidence
required for the existence of the crane.

Before 1870 crane were fixed to a position, except for some mounted on flatcars, which
provided some restricted movement. Appleby Brothers demonstrated steam-powered
cranes at Paris in 1867 and Vienna in 1873. In 1922, Henry Coles, manager of Appleby
Corp., began producing truck-mounted cranes under the name Petrol Electric Lorry
Crane. In 1939 the Coles were acquired by Steel and Co. Ltd. of Sunderland. Hiab
invented the world's first hydraulic truck mounted crane in 1947.[3] The name, Hiab,
comes from the commonly used abbreviation of Hydrauliska Industri AB, a company
founded in Hudiksvall, Sweden 1944 by Eric Sundin, a ski manufacturer who saw a way
to utilize a truck's engine to power loader cranes through the use of hydraulics.

4. Components
4.1 Dc motors

A DC motor is any of a class of rotary electrical machines that converts direct current
electrical energy into mechanical energy. Its speed can be controlled over a wide range,
using either a variable supply voltage or by changing the strength of current in its field
windings.

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A simple DC motor has a stationary set of magnets in the stator and an armature with one
or more windings of insulated wire wrapped around a soft iron core that concentrates the
magnetic field. The windings usually have multiple turns around the core, and in large
motors there can be several parallel current paths. The ends of the wire winding are
connected to a commutator. The commutator allows each armature coil to be energized in
turn and connects the rotating coils with the external power supply though brushes.

4.2 Gearbox

Most modern gearboxes are used to increase torque while reducing the speed of a prime
mover output shaft (e.g. a motor crankshaft). This means that the output shaft of a
gearbox rotates at a slower rate than the input shaft, and this reduction in speed produces
a mechanical advantage, increasing torque. A gearbox can be set up to do the opposite
and provide an increase in shaft speed with a reduction of torque.

A geared DC Motor has a gear assembly attached to the motor. The speed of motor is
counted in terms of rotations of the shaft per minute and is termed as RPM. The gear
assembly helps in increasing the torque and reducing the speed. Using the correct
combination of gears in a gear motor, its speed can be reduced to any desirable figure.
This concept where gears reduce the speed of the vehicle but increase its torque is known
as gear reduction. This Insight will explore all the minor and major details that make the
gear head and hence the working of geared DC motor.

The working of the gears is very interesting to know. It can be explained by the principle
of conservation of angular momentum. The gear having smaller radius will cover more
RPM than the one with larger radius. However, the larger gear will give more torque to
the smaller gear than vice versa. The comparison of angular velocity between input gear
(the one that transfers energy) to output gear gives the gear ratio. When multiple gears are
connected together, conservation of energy is also followed. The direction in which the
other gear rotates is always the opposite of the gear adjacent to it.

In any DC motor, RPM and torque are inversely proportional. Hence the gear having
more torque will provide a lesser RPM and converse. In a geared DC motor, the concept
of pulse width modulation is applied.
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4.3 Wheel
The four wheels are mounted on the geared dc motor. Just like the ordinary cars, the outer
part of the wheels is made from a though plastic rubber. The inner part is made from
some kind of hard polymer. It has a slot at the middle for inserting the driver component.

4.4 Hook

The hook is used to connect the material to the crane. It is suspended at the tip. A lifting
hook is a device for grabbing and lifting loads. A lifting hook is usually equipped with a
safety latch to prevent the disengagement of the lifting wire rope sling, chain or rope to
which the load is attached. Hooks come in a variety of styles to meet various needs and
like other parts of the crane, they are rated for loads of a specific size and type. It is
important to avoid using an underrated crane hook, as this could result in damage to the
crane or loss of the load.

4.5 Potentiometer
A potentiometer is a three-terminal resistor with a sliding or rotating contact that forms
an adjustable voltage divider. If only two terminals are used, one end and the wiper, it
acts as a variable resistor or rheostat.

Potentiometers are commonly used to control electrical devices. Potentiometers operated

by a mechanism can be used as position transducers, for example, in a joystick, crane.
Potentiometers are rarely used to directly control significant power (more than a watt),
since the power dissipated in the potentiometer would be comparable to the power in the
controlled load.

Rotary potentiometer is actually a kind of variable resistor. Because of the change of

voltage potential or electromotive force when it works, it can obtain a certain proportion
of voltage or resistance at the output end to the input end, so it is called potentiometer.

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4.6 Servomotor

A servomotor is a rotary actuator or linear actuator that allows for precise control of
angular or linear position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servomotors.

Servomotors are used in applications such as robotics, CNC machinery or automated

manufacturing.

The very simplest servomotors use position-only sensing via a potentiometer and bang-
bang control of their motor; the motor always rotates at full speed (or is stopped). This
type of servomotor is not widely used in industrial motion control, but it forms the
basis of the simple and cheap servos used for radio-controlled models.

Mechanical position of the shaft can be sensed by using a potentiometer, which is

coupled with the motor shaft through gears. The current position of the shaft is converted
into electrical signal by the potentiometer, and the compared with the command input
signal. In modern servo motors, electronic encoders or sensors are used to sense the
position of the shaft.

The type of motor is not critical to a servomotor and different types may be used. At
the simplest, brushed permanent magnet DC motors are used, owing to their simplicity
and low cost.

A servo consists of a Motor (DC or AC), a potentiometer, gear assembly and a

controlling circuit. we use gear assembly to reduce RPM and to increase torque of
motor. Servo motor is controlled by PWM (Pulse with Modulation) which is provided
by the control wires. There is a minimum pulse, a maximum pulse and a repetition rate.
Servo motor can turn 90 degree from either direction form its neutral position.

Most servo motors have the following three connections:

• Black/Brown ground wire.

• Red power wire (around 5V).
• Yellow or White PWM wire.

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4.7 DC Motor Driver Circuits
Motor Driver circuits are current amplifiers. They act as a bridge between the controller
and the motor in a motor drive. Motor drivers are made from discrete components which
are integrated inside an IC. The input to the motor driver IC or motor driver circuit is a
low current signal. The function of the circuit is to convert the low current signal to a
high current signal. This high current signal is then given to the motor. The motor can be
a brushless DC motor, brushed DC motor, stepper motor, other DC motors etc.

Features

• High level functionality.

• Better performance.
• Provides high voltage.
• Provides high current drive.
• Includes protection schemes to prevent the failure of motors due to any faults.

Need for Motor Driver Circuits/ICs

In motor interfacing with controllers, primary requirement for the operation of the
controller is low voltage and small amount of current. But the motors require a high
voltage and current for its operation. In other words, we can say the output of the
controller or processor is not enough to drive a motor. In such a case direct interfacing of
controllers to the motor is not possible. So, we use a Motor Driver Circuit or Motor
Driver IC.

L298N Driver

The L298N is a dual H-Bridge motor driver which allows speed and direction control of
two DC motors at the same time. The module can drive DC motors that have voltages
between 5 and 35V, with a peak current up to 2A.

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4.8 Arduino

Arduino is open-source hardware. The hardware reference designs are distributed under a
Creative Commons Attribution Share-Alike 2.5 license and are available on the Arduino
website. Layout and production files for some versions of the hardware are also available.

Arduino board designs use a variety of microprocessors and controllers. The boards are
equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to
various expansion boards or breadboards (shields) and other circuits. The boards feature
serial communications interfaces, including Universal Serial Bus (USB) on some models,
which are also used for loading programs from personal computers. The microcontrollers
are typically programmed using a dialect of features from the programming languages C
and C++. In addition to using traditional compiler toolchains, the Arduino project
provides an integrated development environment (IDE) based on the Processing language
project. Many Arduino-compatible and Arduino-derived boards exist. Some are
functionally equivalent to an Arduino and can be used interchangeably. Many enhance
the basic Arduino by adding output drivers, often for use in school-level education, to
simplify making buggies and small robots. Others are electrically equivalent but change
the form factor, sometimes retaining compatibility with shields, sometimes not. Some
variants use different processors, of varying compatibility.

IDE

The Arduino integrated development environment (IDE) is a cross-platform application

(for Windows, macOS, Linux) that is written in the programming language Java. It
originated from the IDE for the languages Processing and Wiring. It includes a code
editor with features such as text cutting and pasting, searching and replacing text,
automatic indenting, brace matching, and syntax highlighting, and provides simple one-
click mechanisms to compile and upload programs to an Arduino board. It also contains a
message area, a text console, a toolbar with buttons for common functions and a
hierarchy of operation menus.

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Sketch

A sketch is a program written with the Arduino IDE. Sketches are saved on the
development computer as text files with the file extension. ino. Arduino Software (IDE)
pre-1.0 saved sketches with the extension. pde.

A minimal Arduino C/C++ program consists of only two functions:

• setup (): This function is called once when a sketch starts after power-up or reset.
It is used to initialize variables, input and output pin modes, and other libraries
needed in the sketch.
• loop (): After setup () function exits (ends), the loop () function is executed
repeatedly in the main program. It controls the board until the board is powered
off or is reset.

4.9 Planar four-bar linkage

Planar four-bar linkages are constructed from four links connected in a loop by four
one-degree-of-freedom joints. A joint may be either a revolute, that is a hinged joint,
denoted by R, or a prismatic, as sliding joint, denoted by P.

A link connected to ground by a hinged joint is usually called a crank. A link connected
to ground by a prismatic joint is called a slider. Sliders are sometimes considered to be
cranks that have a hinged pivot at an extremely long distance away perpendicular to the
travel of the slider.

The link that connects two cranks is called a floating link or coupler. A coupler that
connects a crank and a slider is often called a connecting rod.

There are three basic types of planar four-bar linkage depending on the use of revolute or
prismatic joints:

• Four revolute joints: The planar quadrilateral linkage is formed by four links
and four revolute joints, denoted RRRR. It consists of two cranks connected
by a coupler.
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 • Three revolute joints and a prismatic joint: The slider-crank linkage is
constructed from four links connected by three revolute and one prismatic
joint, or RRRP. It can be constructed with crank and a slider connected by
the connecting rod. Or it can be constructed as a two-cranks with the slider
acting as the coupler, known as an inverted slider-crank.
• Two revolute joints and two prismatic joints: The double slider is a PRRP
linkage. This linkage is constructed by connecting two sliders with a coupler
link. If the directions of movement of the two sliders are perpendicular then
the trajectories of the points in the coupler are ellipses and the linkage is
known as an elliptical trammel, or the Trammel of Archimedes.

Planar four-bar linkages are important mechanisms found in machines. The kinematics
and dynamics of them are important topics in mechanical engineering. They can be
designed to guide a wide variety of movements.

4.10 Planar quadrilateral linkage

Planar quadrilateral linkage, RRRR or 4R linkages have four rotating joints. One link of
the chain is usually fixed, and is called the ground link, fixed link, or the frame. The two
links connected to the frame are called the grounded links and are generally the input and
output links of the system, sometimes called the input link and output link. The last link
is the floating link, which is also called a coupler or connecting rod because it connects
an input to the output.

Assuming the frame is horizontal there are four possibilities for the input and output links:

• A crank: can rotate a full 360 degrees

• A rocker: can rotate through a limited range of angles which does not include 0°
or 180°
• A 0-rocker: can rotate through a limited range of angles which includes 0° but not
180°
• A π-rocker: can rotate through a limited range of angles which includes 180° but
not 0°

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Grashof condition

The Grashof condition for a four-bar linkage states: If the sum of the shortest and longest
link of a planar quadrilateral linkage is less than or equal to the sum of the remaining two
links, then the shortest link can rotate fully with respect to a neighboring link. In other
words, the condition is satisfied if S + L ≤ P + Q, where S is the shortest link, L is the
longest, and P and Q are the other links.

Classification

The movement of a quadrilateral linkage can be classified into eight cases based on the
dimensions of its four links. Let a, b, g and h denote the lengths of the input crank, the
output crank, the ground link and floating link, respectively. Then, we can construct the
three terms:

The movement of a quadrilateral linkage can be classified into eight types based on the
positive and negative values for these three terms, T1, T2, and T3.

Grashof condition Input link Output link

− − + Grashof Crank Crank

+ + + Grashof Crank Rocker

+ − − Grashof Rocker Crank

− + − Grashof Rocker Rocker

− − − Non-Grashof 0-Rocker 0-Rocker

− + + Non-Grashof π-Rocker π-Rocker

+ − + Non-Grashof π-Rocker 0-Rocker

+ + − Non-Grashof 0-Rocker π-Rocker

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The cases of T1 = 0, T2 = 0, and T3 = 0 are interesting because the linkages fold. If we
distinguish folding quadrilateral linkage, then there are 27 different cases.

Fig 1: Types of four-bar linkages, s: shortest link, l: longest link.

Design of four-bar mechanisms

The synthesis, or design, of four-bar mechanisms is important when aiming to produce a

desired output motion for a specific input motion. In order to minimize cost and
maximize efficiency, a designer will choose the simplest mechanism possible to
accomplish the desired motion. When selecting a mechanism type to be designed, link
lengths must be determined by a process called dimensional synthesis. Dimensional
synthesis involves an iterate-and-analyze methodology which in certain circumstances
can be an inefficient process; however, in unique scenarios, exact and detailed procedures
to design an accurate mechanism may not exist.

Time ratio

The time ratio (Q) of a four-bar mechanism is a measure of its quick return and is defined
as follows:

With four-bar mechanisms there are two strokes, the forward and return, which when
added together create a cycle. Each stroke may be identical or have different average

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speeds. The time ratio numerically defines how fast the forward stroke is compared to the
quicker return stroke. The total cycle time (Δtcycle) for a mechanism is:

Most four-bar mechanisms are driven by a rotational actuator, or crank, that requires a
specific constant speed. This required speed (ωcrank) is related to the cycle time as
follows:

Some mechanisms that produce reciprocating, or repeating, motion are designed to

produce symmetrical motion. That is, the forward stroke of the machine moves at the
same pace as the return stroke. These mechanisms, which are often referred to as in-line
design, usually do work in both directions, as they exert the same force in both directions.

Examples of symmetrical motion mechanisms include:

• Windshield wipers
• Engine mechanisms or pistons
• Automobile window crank

Other applications require that the mechanism-to-be-designed has a faster average speed
in one direction than the other. This category of mechanism is most desired for design
when work is only required to operate in one direction. The speed at which this one
stroke operates is also very important in certain machine applications. In general, the
return and work-non-intensive stroke should be accomplished as fast as possible. This is
so the majority of time in each cycle is allotted for the work-intensive stroke. These
quick-return mechanisms are often referred to as offset.

Examples of offset mechanisms include:

• Cutting machines
• Package-moving devices

With offset mechanisms, it is very important to understand how and to what degree the
offset affects the time ratio. To relate the geometry of a specific linkage to the timing of
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the stroke, an imbalance angle (β) is used. This angle is related to the time ratio, Q, as
follows:

Through simple algebraic rearrangement, this equation can be rewritten to solve for β:

Degree of freedom

The number of independent ways by which a dynamic system can move, without
violating any constraint imposed on it, is called number of degrees of freedom. In other
words, the number of degrees of freedom can be defined as the minimum number of
independent coordinates that can specify the position of the system completely.

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5. control system
The mobility of the vehicle and the movement of the four-bar linkage is controlled by
using the Arduino device. The code for this project is as follows:

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Fig 2: The Arduino code

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5.1 Remote control

A remote-control system consists of two units. One is a portable transmitter that creates
control signals. The other is a receiver that is permanently installed on the crane. The
receiver is connected to the crane's control unit. Each switch on the transmitter creates a
specified combination of "pulses" that is transmitted to the receiver, which then decodes
the "pulses" and transmits them to the crane's motor controllers.
One benefit of remote-control operation is improved safety. That is, there is no need for
an individual to be physically near the crane and its operation and risk being struck either
the crane or its load. Another benefit of remote-control technology is improved efficiency,
when the technology is installed on the right cranes

6. Working principle
There are three major considerations in the design of cranes. First, the crane must be able
to lift the weight of the load; second, the crane must not topple; third, the crane must not
rupture.

The whole system is powered by a rechargeable lithium ion battery. It is applied directly
on the motor controller L298N. Then the Arduino uno is connected to the 5v output of
motor controller.

6.1 Arduino

We connect the transmitter (the smart phone) with the Arduino via the Bluetooth module.
By using Bluetooth module, the transmitter is connected to the Arduino. The Bluetooth
name of the Bluetooth module is HC-05. There is an android application built for serial
communication using Bluetooth, it is going to be used to send command to the Arduino.
The Arduino will take the command and send signal to the effectors; the motors on the

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wheels, the motor on the plate and the servo. It is possible to wirelessly control the
position of the plate and the movement of the whole locomotion system. For controlling
the position of the bar there is another mechanism apart from wireless control; for that
potentiometer is used. By manually turning the potentiometer the servo can be turned.

The code uploaded on the Arduino board has everything that determine how the system
functions. Let’s explain Fig 1 in detail.

The servo library is included which is going to be used for the servo motor. The vital
variables are declared. The next important step is starting the serial communication
and nominating all the pins in use of the Arduino as output.

In the void loop section, the first line reads the signal from the connected
potentiometer. That signal is expressed in integer number from 0-1055. The second
line converts that interval to 0-180, that is the moving range of the servo. At the third
the servo is given that converted number.
The next two lines are used to receive the command from the phone via the serial
ports TX and RX and also will nominate the receiver character on one variable. That
variable is going to be used as a condition for the next if sentences.
digitalWrite gives voltage to a terminal. analogWrite also gives voltage to a terminal,
but it gives a PWM measured amount of voltage not just a maximum. The range is 0-
255(0 means no voltage and 255 means maximum voltage).
At the first condition, when the variable is ‘F’, a forward driving signal will be sent to
the motors on the wheel and a stop signal will be sent to the motor on the plate. The
rest of the conditions work in the same way; they are made for different value of the
variable and their effect is different. The delay at the last line is for stabilizing the
system.

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 L298N motor
potentiometer
controller

Arduino uno
board
DC motor for
turning plate
Wheel for
turning plate

Plate Servo motor

The 4 bar Wheel for

mechanism locomotion

Boom

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6.2 Four bar mechanism
For the arm which is responsible to hold the load and used to move the load from one
place to another, we used four bar linkage mechanism as indicated below on fig. 4 we
have double rocker system. We can justify this by using grashof condition.

Fig. 3

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The grashof condition for this double rocker system, S+L>P+Q, as defined before so is
justified as follows:

𝑆 = 15, 𝐿 = 45, 𝑃 = 25, 𝑄 = 27

15 + 45 > 25 + 27 ,60 > 52

There is a servo motor connected to on the ground 1. The servo motor is controlled by a
signal which comes from the potentiometer through the Arduino.so the bar 1 moves
according to the servo motor motion. Bar 3 connects bar 1 and bar 2 and transmits motion
from bar 1 to bar 2. Bar 2, which is connected to ground 2, is made in a way that it can
move starting from 100 above x-axis to 750 above the x-axis following the motion of bar 1.

7. Reliability and safety

Nowadays, cranes are widely applied in mechanical, chemical and construction industries
all over the world. With the economic development and the increasing number of cranes,
crane accidents become more frequent. An ongoing challenge in crane manufacturing and
usage is how to keep crane operation safe during a longer service period with limited
maintenance budgets. Probabilistic methods provide tools to better assess the impact of
uncertainties on component life and failure probabilities. Application of probabilistic
tools to risk–based condition assessments and life prediction helps managers to make
better risk–informed decisions regarding crane operations. In addition to assessing crane
reliability, probabilistic methods also provide information for analyzing the costs of
continuing operation based on risks and their possible financial consequences.

Mobile cranes are responsible for the most accidents, injuries, and fatalities of all of the
crane types. Be aware of the hazards if you operate or work around mobile cranes. Get
proper training on crane operation and load preparation and securing. Wear hard hats,
safety boots, and high visibility clothing when operating or working around cranes.

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8. Conclusion
Generally, a mobile crane is a lifting device which is capable of moving, often used for
lifting heavy loads for industrial or construction purpose. In this design of mobile crane
Arduino uno is used as a control device, which is an open-source microcontroller
board based on the Microchip ATmega328P microcontroller and developed
by Arduino.cc. And a four-bar linkage is used to create the lifting ability of the crane. A
four-link mechanism with revolute joints is commonly called a four-bar mechanism. And
some other devices like potentiometer, servomotor, geared dc motor, dc motor drive
circuit and L298N Driver are also used in this mobile crane prototype.

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9 References:
1. Wikipedia
2. "How Are Cranes Powered?". Bryn Thomas Cranes.
3. Chisholm, Hugh, ed. (1911). "Cranes" . Encyclopædia
Britannica. 7 (11th ed.)
4. Zhiwen, Zhang and Heqian, Yu. Crane Design Handbook 1-
45, 1993
5. IS: 4573 1982, Edition 2.1 (1989-09) specification for power
driven mobile cranes
6. "Mobile Crane Hire Ireland, Kevin Keogh Crane Services"
7. Lovgren. Rolf. Radical Improvements in Crane Safety, 21-23,
2004

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