MATEC Web Conf.
Volume 83, 2016CSNDD 2016 - International Conference on Structural Nonlinear Dynamics and Diagnosis
|Number of page(s)||4|
|Section||Mechanical, aeronautic, aerospace and naval structures|
|Published online||16 November 2016|
Application of the Dahl friction model in the dynamics analysis of grab cranes
University of Bielsko-Biala, Department of Mechanics, 43-309 Bielsko-Biala, Willowa 2, Poland
The paper presents dynamics analysis of grab cranes. The cranes can be built out of any number of links, however, only selected links have their own drive that is considered in the flexible form. The cranes are mounted to the ground by means of any number of flexible supports. Joint coordinates and homogeneous transformation matrices are used to describe the cranes’ geometry. Equations of motion are derived using Lagrange equations. Friction phenomenon is taken into account in all joints. The joint forces and torques used to calculate friction torques in the revolute joints and friction forces in the prismatic joints are determined using the recursive Newton-Euler algorithm. Models of revolute and prismatic joints are worked out. Friction coefficients are defined using the Dahl friction model. The results of numerical calculations present the influence of friction on the driving torques, force and behaviour of the load.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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