The influence of the friction phenomenon on a forest crane operator’s level of discomfort

• Autorzy: Urbaś Andrzej , Szczotka Marek

Identyfikatory

DOI

10.17531/ein.2019.2.3

Warianty tytułu

PL

Wpływ zjawiska tarcia na poziom dyskomfortu pracy operatora żurawia leśnego

• Języki publikacji: EN PL

Abstrakty

EN

A mathematical model of a forest crane that is suitable for dynamics analysis of its operation cycle is presented in this paper. The flexibility of the operator’s seat, drives and supports is taken into account. Joint coordinates are applied to describe the motion of the links together with the homogeneous transformations technique. Lagrange equations of the second order are used when deriving the equations of motions. Joint forces and torques are determined based on recursive Newton-Euler algorithms. These joint forces are then used in the LuGre friction model, which allows to calculate the friction coefficients and friction forces. Numerical analyses performed here show the influence of various friction forces on the vibration level as perceived by the operator of the crane. The level of discomfort is discussed based on standards commonly used in the vehicle and transportation industry for evaluations of vibration comfort.

PL

W niniejszym artykule przedstawiono model matematyczny żurawia leśnego, który jest stosowany do analizy dynamiki cyklu jego pracy. Uwzględniono podatność podparcia fotela operatora, napędów oraz podpór. Do opisu ruchu członów stosuje się współrzędne złączowe i macierze przekształceń jednorodnych. Do wyprowadzenia równań ruchu modelu żurawia zastosowano podejście bazujące na formalizmie równań Lagrange’a drugiego rodzaju. Siły i momenty węzłowe są określane na podstawie rekurencyjnego algorytmu Newtona-Eulera. Siły te są następnie wykorzystywane w modelu tarcia LuGre, który pozwala obliczyć współczynniki i siły tarcia. Przeprowadzone analizy numeryczne pokazują wpływ różnych sił tarcia na poziom drgań odczuwany przez operatora żurawia. Poziom dyskomfortu operatora wywołany przez drgania maszyny został oszacowany w oparciu o często stosowane w przemyśle samochodowym i transportowym odpowiednie standardy.

Słowa kluczowe

EN

crane dynamics; friction; seat vibrations

PL

dynamika żurawia; tarcie; drgania siedzenia

• Wydawca: Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne
• Czasopismo: Eksploatacja i Niezawodność
• Rocznik: 2019
• Tom: Vol. 21, no. 2
• Strony: 197--210
• Opis fizyczny: Bibliogr. 32 poz., rys., tab.

Twórcy

autor

Urbaś Andrzej

• Department of Mechanical Engineering Fundamentals University of Bielsko-Biala Willowa 2, 43-309 Bielsko-Biala, Poland

autor

Szczotka Marek

• Department of Transport University of Bielsko-Biala Willowa 2, 43-309 Bielsko-Biala, Poland

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