Please wait a minute...
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2017, Vol. 18 Issue (4): 268-281    DOI: 10.1631/jzus.A1600292
Articles     
Dynamic behavior of a hydraulic crane operating a freely suspended payload
Bozhidar Grigorov, Rosen Mitrev
Logistics Engineering Department, Mechanical Engineering Faculty, Technical University, Sofia 1000, Bulgaria
Download:     PDF (0 KB)     
Export: BibTeX | EndNote (RIS)      

Abstract  We describe an investigation of the dynamic behavior of a hydraulically driven crane with a freely suspended payload during luffing and slewing motions. To simplify the task, the two movements are considered separately. Taking into account only one motion at a time, the crane is regarded as a three-link kinematic chain with revolute joints. The forward dynamics problem is solved for a crane with three rotational degrees of freedom, two of which describe the load swinging. In both the cases studied, the links are driven by a torque applied via a hydraulic drive, i.e., a linear actuator for the luffing case and a rack and pinion mechanism for the slewing motion. To compose the set of differential equations for the forward dynamics problem, a method based on a general Newton-Euler algorithm is used. From these simulations the time histories of various parameters, namely the swinging angles, hydraulic pressures, and joint forces, are determined. The results obtained via simulations are confirmed experimentally and a good agreement between the two outputs is observed. The results also show that a hydraulic drive system using fast opening flow direction control valves increases the load swing and imposes extensive inertial forces and problems of fatigue and reliability.

Key wordsHydraulic crane      Load swinging      Newton-Euler method      Hydraulic drive     
Received: 05 April 2016      Published: 05 April 2017
CLC:  TH161  
Cite this article:

Bozhidar Grigorov, Rosen Mitrev. Dynamic behavior of a hydraulic crane operating a freely suspended payload. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2017, 18(4): 268-281.

URL:

http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.A1600292     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2017/V18/I4/268

[1] Xiao-ping Ouyang, Bo-qian Fan, Hua-yong Yang, Shuo Ding. A novel multi-objective optimization method for the pressurized reservoir in hydraulic robotics[J]. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2016, 17(6): 454-467.