Computer Aided Analysis of the Mobile Crane Handling System Using Computational Intelligence Methods

Stability Assessment as a Criterion of Stabilization of the Movement Trajectory of Mobile Crane Working Elements

“…The assemblies of the truck crane type HDS HIAB XS (Cargotec Poland) in relation to which the voice control system was proposed - [21,22] include the design of all the main parts and sub-assemblies as well as other important elements of the construction [3,19] shown in Fig.3.…”

“…The possibility to select any reciprocal position of the main crane assemblies with a selected accuracy is important as well. The masses of the elements of the equipment and the assemblies that load the system [3,19] were taken into account in the modelling of the crane. A change to the configuration of the crane system is connected with its working movements.…”

“… the mass of the cargo carried is m l = 560 kg;  in the initial position, the configuration coordinates of the individual working mechanisms are as follows:  p = 135°,  p = 112°,  p = 139.8°, t p = 2.4 m. The integrated CAD/CAE system with an additional computational application was used in simulation testing, which permitted the following among others:  an accurate determination of the coordinates of any point of the crane system based on the mathematical model that describes its configuration [3];  establishing the trajectory of the gravity centre of the crane Wu (x Wu , z Wu ),  calculation of the reaction in the outriggers Ry 1 ,Ry 2 , Ry 3 ,Ry 4 = f {Gl , Wu(x Wu , z Wu ), t}- [19];  calculation of the difference of the torques M = M u -M w = f {Gl , Wu(x Wu , z Wu ), t};  calculation of the safety indicator Wb = f {Gl , Wu(x Wu , z Wu ), t};  determination of the values of the working loads and the crane lift curves;  determination of the crane stability conditions as a function of its working load and extension;  evaluation of the stability of the performance of the entire crane handling cycle;  optimization of the movement trajectory of the crane working elements for the accepted optimization criterion Wb max . The trajectories presented in Fig.5 that are determined by the gravity centres Wu(x Wu , z Wu ) of the crane system are located inside the tip-over outline S 1 S 2 S 3 S 4 (detail C); hence, stability conditions are met.…”

“…The following may also constitute the measure of the crane stability:  the value of the pressure on the base of the least loaded crane support and the value of the changes of this force in time [2,19,20];  the location of the symmetric mass centre of the handling system of the crane in relation to the support points [2,3]. The system is stable if, in the projection on the horizontal plane, the mass centre is located inside the quadrangle that is established by the support points of the crane outrigger system;…”

Crane Stability Assessment Method in the Operating Cycle

“…This study adds to the research on the mobile crane [1][2][3], including selected configurations of working elements' positioning together with applying load onto its outrigger system, which is the consequence of its components' and cargo's mass.…”