engleski

Crane dynamics in a vertical base plane

Vibration characteristics of a generalized model of a robocrane - the model itself is an abstraction combination of a transmanipulator and a robocrane, are investigated in a vertical base plane with simultaneous linear travelling and lifting load motion. The investigation is based on the developed three mass dynamic model of a robocrane considering the variable load mass according to a certain time function. The system non-linear differential equations of motion are analyzed in different case studies of formation of reactive force with a definite crane control. The objective of the work presented in this paper is a derivation of the system motion differential equations, considering the accelerating and decelerating working modes and the equilibrium at linear variation of the brake torque. The stoppage time is defined at which the vibration amplitudes of the robocrane construction are minimal and the necessary gradient of the growth of the brake torque as a function of the system parameters is defined. Computer code MATLAB is used in the dynamic system computer modelling.

robocrane vibrations; crane vibrations; crane dynamics; ordinary differential equations of second order; computer modelling; frequency analysis; brake torque characteristics

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