Abstract
In this paper we present a modeling procedure for a flexible knuckle boom crane, which is actuated by hydraulic cylinders and is modeled as a planar multibody system. We propose a convenient framework where both rigid body velocities and velocities caused by flexible behavior are represented as twists. Such formulation allows for using screw transformations, which leads to systematic derivations. Dynamics of a crane and mass balance of hydraulic cylinders are coupled using the bond graph method. In addition, we present a procedure for the determination of reaction forces in passive joints, which is conveniently given as an extension of the dynamic modeling procedure. Both procedures are presented in a general and systematic manner such that they can be applied for a group of planar flexible manipulators.We study the dynamics of luffing motion of a crane by numerical simulation and provide the simulation results, as well as determine the reaction forces in passive joints. The simulation results are validated by the ANSYS finite element analysis. The derived model provides a basis for design of luffing cylinders and can potentially be used for studying performance of a crane control system.
Highlights
Hoisting of a crane payload is a very common procedure in offshore operations
In this work we have presented a procedure for the dynamic modeling of planar flexible manipulators, which are actuated by hydraulic cylinders
We have proposed a modeling framework, where both rigid body velocities and velocities associated with elastic motion are represented as twists
Summary
Hoisting of a crane payload is a very common procedure in offshore operations. Safety during the payload landing is an important issue, where the information about the exact position of a payload relative to the landing site is necessary. In the other paper [4] the author presented the analysis of flexibility properties of a mobile crane depending on the different selection of flexible components Another dynamic model of a flexible mobile crane actuated by hydraulic cylinders was presented in [5], where the method of Langrange’s multipliers was used for constraining bodies in the system. The dynamic analysis of luffing motion of a flexible single-boom crane actuated by hydraulic cylinders was given in [9].
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