Dynamics analysis of a truck-mounted crane with the LuGre friction model in the joints

• Autorzy: Urbaś A. , Stanclik G. , Kłosiński J. , Harlecki A.
• Konferencja: Symposium Vibrations In Physical Systems (27 ; 09-13.05.2016 ; Będlewo koło Poznania ; Polska)
• Języki publikacji: EN

Abstrakty

EN

A dynamics analysis of a selected truck-mounted crane is presented in this article. A mathematical model of the crane, considered in a form of an open-loop kinematic chain, allows to take into account flexibility of its support system, hoist rope and drives of particular links, and also friction in the joints. The geometry of the crane model is described using the Denavit-Hartenberg notation based on joint coordinates and homogeneous transformation matrices. Its equations of motion were derived on basis of the Lagrange formalism. The LuGre model was used to describe friction in the joints.

Słowa kluczowe

EN

truck mounted crane; dynamic analysis; friction joints; mathematical modelling

PL

żuraw samochodowy; analiza dynamiczna; złącza cierne; modelowanie matematyczne

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2016
• Tom: Vol. 27
• Strony: 391--398
• Opis fizyczny: Bibliogr. 11 poz., il., wykr.

Twórcy

autor

Urbaś A.

• University of Bielsko-Biala, Department of Mechanics, 43-309 Bielsko-Biała, Willowa 2

autor

Stanclik G.

• University of Bielsko-Biala, Ph.D. student, 43-309 Bielsko-Biała, Willowa 2

autor

Kłosiński J.

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

autor

Harlecki A.

• University of Bielsko-Biala, Department of Mechanics, 43-309 Bielsko-Biała, Willowa 2

Bibliografia

• 1. R. M. Ghigliazza, P. Holmes, On the dynamics of crane, or spherical pendula with moving supports, International Journal of Non-Linear Mechanics, 37 (2002) 1211 – 1221.
• 2. J. Kłosiński, Swing-free stop control of the slewing motion of the mobile crane, Control Engineering Practice, 13 (2005) 451 – 460.
• 3. A. Trąbka, Influence of flexibilities of cranes structural components on load trajectory, Journal of Mechanical Science and Technology, 30(1) (2016) 1 – 14.
• 4. A. Urbaś, Analysis of flexibility of the support and its influence on dynamics of grab crane, Latin American Journal of Solid and Structures, 10(1) (2013) 109 – 121.
• 5. B. Posiadała, Modeling and analysis of the dynamics of load carrying system, Proc. of World Congress on Engineering and Computer Science, San Francisco, USA 2012.
• 6. A. Urbaś, A. Harlecki, Dynamics analysis of the grab crane with the LuGre friction model in the joints, Proc. of XXIX Conference “Engineering Machines Problems”, Zakopane, Poland 2016 (in Polish).
• 7. J. J. Craig, Introduction to robotics. Mechanics and control, Addison-Wesley Publish Company, Inc., (1989), (1986).
• 8. E. I. Jurevič (ed.), Dynamics of robot control, Nauka, Moscow 1984 (in Russian).
• 9. C. Canudas de Wit, H. Olsson, K. J. Åström, P. Lischinsky, A new model for control of system with friction, IEEE Transactions on Automatic Control, 40(3) (1995) 419 – 425.
• 10. D. A. Haessig, B. Friedland, On the modeling and simulation of friction, Journal of Dynamical Systems, Measurements and Control Trans. of ASME, 113(3) (1991) 354 – 362.
• 11. A. Harlecki, A. Urbaś, Modelling friction in dynamics of selected one-DOF spatial linkage mechanisms, Meccanica, February (2016), DOI 10.1007/s11012-016-0390-6.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.