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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.

The problem of transporting a payload over relatively short distances and heights by means of cranes is a typical one in the field of discontinuous transport. Although the problem itself may not seem extremely complex at the first glance, it requires special attention as many of its aspects affect the efficiency and safety during operation. This paper puts focus onto dynamic behavior of a hydraulically driven crane loaded by a freely suspended payload and the chosen topic is of interest to the research community in the field of transport technique. The consideration covers both structural dynamics and dynamics of the hydraulic system as well as their mutual influence, which adds to the quality of the conducted research. Two typical motions of the suspended load are investigated numerically and experimentally. The chosen solution procedure and numerical algorithm are adequate for the problem at hand.

液压起重机操作自由悬浮载荷的动态特性

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