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

Urbaś A., Stanclik G., Kłosiński J., Harlecki A.

Vibrations in Physical Systems

2016

Vol. 27

391--398

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.

Analiza dynamiczna układu zmiany wysięgu modelu laboratoryjnego żurawia samochodowego

Sochacki W.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

2002

z. 60 [197]

547-554

In the work the dynamic system of laboratory model of the truck crane consisted of a telescopic boom and a hydraulic cylinder and a rotary platform is considered. The result in the form of frequency curves for changing both the load and the geometry of the system have been presented.