A small-scale cherrypicker for experimental and educational use

Cherrypickers are a useful class of machines that lift people to great heights. However, a major drawback of cherrypickers is that they oscillate when they move. Under-standing the dynamics and stability of these machines is crucial for efficient and safe operation. To this end, a small-scale cherrypicker was constructed for experimental dynamic analysis and educational use. Experimental results confirm the benefits of the vibration-control techniques developed for this machine. The cherrypicker was used during Fall 2010 as an experimental apparatus in an advanced graduate controls course taught simultaneously at the Georgia Institute of Technology and the Massachusetts Institute of Technology. Details of its educational use are discussed.