Modeling the Dynamics and Kinematics of a Telescopic Rotary Crane by the Bond Graph Method: Part I

Sagirli, Ahmet; Boğoçlu, Muharrem Erdem; Omurlu, Vasfi Emre

doi:10.1023/b:nody.0000009928.21350.73

Cited by 17 publications

(7 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In a lumped mass model, the hoist cable is modeled as a massless cable while the payload and the hook is lumped as a point mass. Several dynamic models have been built for different cranes based on the lumped-mass approach, including modeling of an overhead crane [12,13] , modeling of a gantry crane [14,15] , modeling of a rotary crane [16] and offshore container crane [17] by the Lagrangian method, modeling of an offshore hydraulic crane [18] and modeling of a telescopic type rotary crane [19,20] using the bond graph method, and modeling of a boom knuckle crane [21] by the screw theory.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

et al. 2021

View full text Add to dashboard Cite

Crane operations might be very dangerous in rough sea conditions due to unexpected payload swing induced by ship excitations. In this paper, a novel Cable-Driven Inverted Tetrahedron Mechanism (CDITM) is presented to suppress the payload swing for sake of the workers' safety. The CDITM retrofitting on an offshore crane is simplified as a constrained pendulum with a moving base, and its equations of motion are obtained by Newton Euler Method. Next, three-dimensional dynamic analysis is performed using Matlab/Simulink, and the influence law of ship excitations, tagline tension, crane pose and CDITM configuration on the payload swing are investigated. Finally, through comparative experimental verification, it is found that the simulation tendencies of in-plane swing follows the experiment curves quite well, and the variations between the simulation and experiment results are acceptable. Thus the dynamic modeling and analysis of CDITM are verified. The theoretical and experimental results are fundamental and valuable for the engineering application of CDITM in the offshore industries. INDEX TERMS Offshore cranes; anti-swing system; payload swing suppression; dynamics This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.

show abstract

Section: Introductionmentioning

confidence: 99%

“…Finally, substitute (14)-(18) into(19), the equations of motion for the constrained pendulum system are obtained by proper simplification:…”

mentioning

confidence: 99%

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Only the boom was assumed to be flexible, and the motion of the piston used for hoisting the boom was specified by a velocity-time profile. Sagirli et al [14] used the bond graph method to build a non-linear dynamic model of a truck crane for the main structure and the rotating mechanism, and the lifting mechanism driven by hydraulic cylinders. The model was used to analyse the dynamic response during the rotary motion and load-lifting motion.…”

Section: Introductionmentioning

confidence: 99%

A comprehensive dynamic model of electric overhead cranes and the lifting operations

Niu

Zhang

Ouyang

2011

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

The design of electric cranes requires knowledge of not only the dynamic loads acting on the mechanisms and the structure, and the movement of the crane and payload during their various operations, but also the electromagnetic characteristics of the control system. This article puts forward a new comprehensive dynamic model for the whole system of electric cranes, which includes the mechanisms, the steel structure, the induction motors, and their drive systems. A general electric overhead travelling crane controlled by two types of control schemes (of changing the rotor resistance and the closed-loop rotor-flux-oriented vector control) during the operation of its lifting mechanism is studied. Hamilton's principle with a modified Lagrangian, and the theory of induction motors and drive systems are combined to build a dynamic model of electric cranes during lifting operations. This model aims at simulating the dynamic behaviour of the mechanical and structural systems for the transient and steady-state behaviour of the induction motors and their control during the operations of a real crane. It can be seen that the dynamic system of the whole crane is highly non-linear and non-stationary even for only the lifting operation.

show abstract

“…These development processes result in frequent repairs to the constituent components of the crane, without any numerical validation of their mechanical performance to any standard [3,4]. In order to avoid such inconveniences, a variety of support technologies and analysis methods have been used on the design of this kind of machinery.Among the methods commonly used for the analysis of the constituent mechanisms of a crane, the synthesis of kinematics and its solution through numerical methods [5][6][7][8][9] and the analytic models for optimization [10,11] are highlighted. Nevertheless, the most frequently used technologies include computer-aided design and engineering software (CAD and CAE), which are used for modeling a given three-dimensional geometry [12,13] and its subsequent simulation under different working conditions [14].…”

mentioning

confidence: 99%

“…Using commercial finite element analysis software, different kinds of cranes have been studied with different features such as workshop cranes [13,16], tower cranes [1,9,[17][18][19][20], marine platform cranes [5,21], caterpillar cranes [14,15], telescopic cranes [6,7,22,23], bridge cranes [10][11][12][24][25][26] and jointed cranes [8]. In most of these studies, structural static analysis has been carried out to determine the performance of the crane under live and dead loads [1,10,12,14,16,18,[21][22][23]25].…”

mentioning

confidence: 99%

Analysis by Finite Element Method to Redesign a Jointed-Telescopic Crane for Elevation of Personnel

et al. 2017

View full text Add to dashboard Cite

Íàâåäåíî ÷èñåëüíèé ðîçðàõóíîê ï³äéîìíîãî êðàíà äëÿ ï³äíÿòòÿ ïåðñîíàëó íà îñíîâ³ ñê³í÷åííîåëåìåíòíîãî àíàë³çó, ï³äòâåðäaeåíèé åêñïåðèìåíòàëüíèìè äàíèìè ïî ñêëàäîâèõ éîãî êîìïîíåíòàõ. Îðèã³íàëüíà ìîäåëü ï³äéîìíîãî êðàíà âêëþ÷àº ç÷ëåíîâàí³ ñåêö³¿ êîìïëàíàðíèõ ñòð³ë ³ òåëåñêîï³÷íî¿ ñåêö³¿ êîë³íåàðíèõ ñòð³ë. Ìàêñèìàëüí³ íàâàíòàaeåííÿ òà ³õ âïëèâ íà ñêëàäîâ³ êîìïîíåíòè ï³äéîìíîãî êðàíà âèçíà÷åíî çã³äíî ç³ ñòàíäàðòîì ANSI/SIA 92.9, ùî âèêîðèñòîâóºòüñÿ äëÿ ìîäåëåé ï³äéîìíîãî êðàíà, ðîçïîâñþäaeåíèõ ³ êîìåðö³àë³çîâàíèõ ó Ìåêñèö³. Ñê³í÷åííîåëåìåíòíèé àíàë³ç áàçóºòüñÿ íà ìåòîä³ ñêëàäàííÿ ê³íåìàòè÷íèõ ïàð ç óðàõóâàííÿì äèíàì³÷íîãî íàâàíòàaeåííÿ òà ¿õ ðåçóëüòóþ÷î¿ ðåàêö³¿ íà êîaeåí åëåìåíò. Ìåõàí³÷í³ õàðàêòåðèñòèêè êîaeíîãî êîìïîíåíòà îö³íþþòüñÿ çà ïàðàìåòðîì ì³í³ìàëüíîãî ôàêòîðà áåçïåêè. Îäíàê ó òèõ êîìïîíåíòàõ, äå öåé ôàêòîð íå â³äïîâ³äàº ñòàíäàðòó, ïðîïîíóºòüñÿ áåçë³÷ ìîäèô³êàö³é äëÿ ïåðåïðîåêòóâàííÿ äàíîãî êîìïîíåíòà. Ïðîâåäåíî äåòàëüíèé ñòðóêòóðíèé àíàë³ç çàïðîïîíîâàíî¿ ¿õ ìîäåðí³çàö³¿ é îòðèìàíî á³ëüø âèñîê³ ôàêòîðè áåçïåêè ïîð³âíÿíî ç îðèã³íàëüíîþ ìîäåëëþ. ×èñåëüí³ ðåçóëüòàòè çàïðîïîíîâàíî¿ ìîäåðí³çàö³¿ ï³äòâåðäaeåíî åêñïåðèìåíòàëüíèìè âèì³ðþâàííÿìè äåôîðìàö³é ïðè âèêîðèñòàíí³ òåíçîäàò÷èê³â, óñòàíîâëåíèõ íà ïðîòîòèï³ ï³äéîìíîãî êðàíà, ÿêèé âèãîòîâëåíî çã³äíî ³ç çàïðîïîíîâàíîþ ïåðåïðîåêòîâàíîþ ìîäåëëþ.Êëþ÷îâ³ ñëîâà: ï³äéîìíèé êðàí äëÿ ï³äíÿòòÿ ïåðñîíàëó, ñê³í÷åííîåëåìåíòíèé àíàë³ç, êîíñòðóêòèâíå ïåðåïðîåêòóâàííÿ, ìåòîä ñêëàäàííÿ ê³íåìàòè÷íèõ ïàð, àíàë³ç ³ç óðàõóâàííÿì äèíàì³÷íîãî íàâàíòàaeåííÿ.Introduction. Commonly, the design of cranes is carried out in accordance with the manufacturer's experience or applying reverse engineering on existing designs [1,2]. These development processes result in frequent repairs to the constituent components of the crane, without any numerical validation of their mechanical performance to any standard [3,4]. In order to avoid such inconveniences, a variety of support technologies and analysis methods have been used on the design of this kind of machinery.Among the methods commonly used for the analysis of the constituent mechanisms of a crane, the synthesis of kinematics and its solution through numerical methods [5][6][7][8][9] and the analytic models for optimization [10,11] are highlighted. Nevertheless, the most frequently used technologies include computer-aided design and engineering software (CAD and CAE), which are used for modeling a given three-dimensional geometry [12,13] and its subsequent simulation under different working conditions [14]. Some of these

show abstract

Modeling the Dynamics and Kinematics of a Telescopic Rotary Crane by the Bond Graph Method: Part I

Cited by 17 publications

References 18 publications

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

A comprehensive dynamic model of electric overhead cranes and the lifting operations

Analysis by Finite Element Method to Redesign a Jointed-Telescopic Crane for Elevation of Personnel

Contact Info

Product

Resources

About