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Wireless Personal Communications
Published in: Wireless Personal Communications 2/2018

07-12-2017

Dynamic Model Studies of Telescopic Crane with a Lifting and Pulling Load Movement

Authors: Yufeng Zheng, Dianlong Wang

Published in: Wireless Personal Communications | Issue 2/2018

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Abstract

This paper presents a kinematic and dynamic model which can be used to simulate telescopic crane slewing, luffing, telescoping, lifting and pulling load movements. The crane joint motion can be described as smooth continuous sine cosine function. The crane dynamic equations are derived by Lagrange method. The lifting rope length from boom tip to hooks described as a time-variant constraint equation. The dynamic equations and the constraint equation form differential algebraic equations which can be solved by constraint stabilization method. The validity and correctness of the telescopic crane model is verified through an example. We prospect the model can be used for the research on compound motion control and lifting scheme design of telescopic crane in the virtual reality.
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Metadata
Title
Dynamic Model Studies of Telescopic Crane with a Lifting and Pulling Load Movement
Authors
Yufeng Zheng
Dianlong Wang
Publication date
07-12-2017
Publisher
Springer US
Published in
Wireless Personal Communications / Issue 2/2018
Print ISSN: 0929-6212
Electronic ISSN: 1572-834X
DOI
https://doi.org/10.1007/s11277-017-5098-y

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