Analysis of Influence of a Crane Flexible Supports, Link Flexibility, and Joint Friction on Vibration Associated with Programmed Motion Execution

Jarzębowska, Elżbieta; Urbaś, Andrzej; Augustynek, Krzysztof

doi:10.1007/s42417-019-00186-1

Cited by 12 publications

(7 citation statements)

References 19 publications

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“…The constrained underactuated control systems dynamics are presented in [9,10] for rigid models of underactuated systems. In [11] a dynamics approach to modeling, taking advantage of the automated computational procedure for constrained dynamics (CoPCoD) is presented. This procedure is based upon the constrained dynamics generation, in which the constraints that come from a system work regime, can be incorporated.…”

Section: Introductionmentioning

confidence: 99%

Motion tracking of a rigid-flexible link robotic system in an underactuated control mode

Jarzębowska,

Augustynek,

Urbaś

2023

Bulletin of the Polish Academy of Sciences Technical Sciences

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The paper presents its contribution to tracking control design of mechanical systems in an underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well researched and controller designs are well developed for them as well. However, in applications, due to costs, weight, design and performance regimes or due to an actuator failure, the underactuated control mode is required. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.

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Section: Introductionmentioning

confidence: 99%

Motion tracking of a rigid-flexible link robotic system in an underactuated control mode

Jarzębowska,

Augustynek,

Urbaś

2023

Bulletin of the Polish Academy of Sciences Technical Sciences

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“…Many papers have studied the motion of the pendulum angle and related parameters. Some studies [11][12][13] investigated carrying pendulum systems and assumed these systems as a crane moving in the horizontal plane. De Angelis derived an observation model from the equation of motion of the coupled slung load system.…”

Section: Introductionmentioning

confidence: 99%

Swing Characteristics and Vibration Feature of Tower Cranes under Compound Working Condition

Yang

Wang

et al. 2021

Shock and Vibration

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The swing behaviour of tower cranes under compound working conditions is closely related to construction safety and structural health. This paper presents dynamic models and simulated them for parameter analysis to understand tower cranes’ dynamic characteristics and vibration features under compound working conditions. The parameters contain payload mass, rope length, lifting acceleration, slewing acceleration, luffing acceleration, and initial angle. For the lifting-luffing coupling motion (LLCM) and lifting-slewing coupling motion (LSCM) of the tower crane, the D’Alembert principle provides a theoretical basis for the derivation of system dynamics equations. The spatial swing angle description of the crane payload includes the time-domain response and frequency-domain response, which uses a dynamic model. The result shows that the mass has little effect on the spatial swing angle. The value of the lifting acceleration is stable at 0.004 m/s2 to 0.01 m/s2. Peak value (PV), root mean square value (RMS), root mean square frequency (RMSF), and frequency standard deviation (RVF) present the best sensitivity to changes in the spatial swing angle response. When PV of angles θ and β increases by tens of thousands of times in the LLCM, PV can reflect the phenomenon of angle divergence. The skewness value (SV) increases by 3422% at the severe swing angle performance in the LSCM. The swing angle regularity with the compound working conditions can provide theoretical guidance for eliminating structural vibration.

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“…To eliminate such accidents and increase loader cranes stability, outriggers transmitting weight loads to the ground of the working platform are used [11]. When operating on weak soils, outriggers subside unevenly due to soil compaction under the influence of unsteady support reactions [12,13], which leads to crane swinging in the horizontal plane and to dangerous load swinging [14]. Additional anchoring of outriggers when operating mobile cranes on soft soils using screw or pricking devices is an effective way to improve their functional characteristics [1,15].…”

Section: Introductionmentioning

confidence: 99%

Modeling the swing of mobile loader cranes with anchor outriggers when operating on weak soils

Lagerev

Tarichko³

2021

E3S Web Conf.

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The paper presents a dynamic model illustrating the swing of a mobile machine on a wheeled chassis equipped with a loader crane and anchor outriggers during loading and unloading operations. The model regards the interaction effect of the outrigger anchoring device with weak soil within the system “load – loader crane – chassis – outriggers – anchor devices – soil”. Possible variants of single and multiple step soil compaction and changes in its deformation characteristics in the area of the outrigger anchor device implementation are considered. The impact of the gaps formed during soil compaction on the swing parameters of a mobile machine during the swing of the boom of the loader crane is demonstrated as applied to a full-scale crane-manipulator. The rate of chassis tilt angle and swing period of the mobile machine increase during the loader crane operation with an increase in the gaps in the ground. The swing parameters during the initial stage of crane operation gradually increase for soils characterized by multiple compaction until these parameters reach some steady-state values determined by soil stiffness. Awareness of the steady-state value of the crane tilt angle amplitude achieved at the end of the process of weak soil compaction enables to reasonably assess the risk of a mobile machine overturning.

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Analysis of Influence of a Crane Flexible Supports, Link Flexibility, and Joint Friction on Vibration Associated with Programmed Motion Execution

Cited by 12 publications

References 19 publications

Motion tracking of a rigid-flexible link robotic system in an underactuated control mode

Motion tracking of a rigid-flexible link robotic system in an underactuated control mode

Swing Characteristics and Vibration Feature of Tower Cranes under Compound Working Condition

Modeling the swing of mobile loader cranes with anchor outriggers when operating on weak soils

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