摘要：To suppress the swing of the payload, a kind of sling tray anti-swing device was designed, which reduced the length of the lifting rope to reduce the swing of payload. The kinematic equations of the payload were established under the condition of whether anti-swing device was provided, and the dynamic was carried out in Mat lab/Simulink environment. The swing of the payload under different rolling angles was analysed in a comparative manner. The results showed that the in-plane angle reduced 60% and out -plane angle reduced 55% of the payload in the case of the anti-swing device. The simulation results verified the effectiveness of the sling tray anti-swing device.
