Abstract
This paper considers the coupled kinematic and dynamic models of a mobile crane. A full description of boom and load movement has been provided as a response of the system to the influence of kinematic forces. The linear system model was treated as rigid, and the carried load as a nondeformed static body. To describe the position of said load, Bryant angles were used. The dynamic model includes the impact of external forces (wind pressure) while load carrying and positioning. Algorithm and calculation software were developed to enable dynamic phenomena analysis during both a work cycle and free movement of said load. The initial problem was solved by means of the ode45 calculation procedure in the Matlab software based on the Runge–Kutta 4th Order Method. The work presents exemplary results of load movement simulation with respect to various wind velocities, selected on the basis of guidelines from Poland’s standards regarding safe operation of mechanical equipment.
Highlights
The truck crane is currently one of the most important modes of equipment transport used to enable handling and assembly
The literature on the subject lists a series of works pertaining to the problem of modelling crane dynamics; optimization of their work cycles; or influence of external forces
The problem of crane dynamics with the inclusion of various load transportation processes was presented in Works [1,2,3]
Summary
The truck crane is currently one of the most important modes of equipment transport used to enable handling and assembly. The problem of crane dynamics with the inclusion of various load transportation processes was presented in Works [1,2,3]. Paper [1] presents a dynamic model of a mobile crane and a carried load in which the flexibility of the support system was taken into account. Paper [2] deals with the problem of dynamic analysis of a rotary crane with a description of all work stages (i.e., lifting, transport, and reloading of load). The kinematic problems of truck cranes were further described in Works [1,18], where the kinematics of point Ω were presented The control of this type of system takes place through changes of the following coordinates: r—boom length, θ—boom inclination angle, φ and α
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