Welcome to Open Science
Contact Us
Home Books Journals Submission Open Science Join Us News
Truck Mounted Concrete Pump Boom Multi-body Flexible Analysis and Experiment Validation
Current Issue
Volume 3, 2016
Issue 5 (September)
Pages: 35-40   |   Vol. 3, No. 5, September 2016   |   Follow on         
Paper in PDF Downloads: 65   Since Jan. 23, 2017 Views: 1433   Since Jan. 23, 2017
Ren Wu, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China; State Key Laboratory for High Performance Complex Manufacturing, Central South University Changsha, Changsha, China.
Li Zhongwei, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
Bi Yanping, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
Yu Yi, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
Zhu Yongtao, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
Peng Bo, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China; Hunan Special Equipment Inspection and Testing Research Institute Zhang Jiajie branch, Zhang Jiajie, China.
Luo Yang, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
Due to the dynamics characteristics and kinematics law of truck mounted concrete pump boom are difficult to determine, the modal reduce method and the finite element theory are respectively adopted to establish the boom multi-body flexible model. Then the rigid model also has been researched. Next the characteristics of the models have been studied. By the comparison the results show that: modal reduction flexible body model based on small deformation theory has high solution efficiency thus it can solve large scale flexible body. And the finite element technology flexible multi-body model based on large deformation theory can solve high-precision flexible body. Besides both of the two flexible models results are accurate than the rigid model. Modal reduction flexible body is suitable for solving little small deformation problem, as well as the finite element flexible body is used for solving large deformation usually. Finally, an experimental has been done on a boom test rig in order to prove the correctness of the model built in the article. All of these give assistance to researchers and engineers in designing and calculations of such large manipulators.
Modal Reduction Method, Finite Element Method, Flexible Multi-body Model, Experiment
Schneider M, Hiller M, Wagner S. Dynamic simulation, nonlinear control and collision avoidance of hydraulically driven large redundant manipulators [J]. Automation and Robotics in Construction XII Instytut Mechanizacji Budownictwa i G6rnictwa Skalarnego, Warszawa, Poland, 1995:341-348.
Schramm D, Franitza D, Lalo W. Virtual Prototyping and Real-Time Simulation of Heavy Equipment Manipulators including Elastic Deformations and Hydraulics, 2005 [C].
DAI Li. Modeling and simulation of concrete pump truck arm system based on flexible multi body dynamics [D]. Shenyang: Northeastern University. School of Mechanical Engineering Automation, 2008: 33-42.
WANG Bin-hua. Research on dynamic response and fatigue strength of pump truck based on the fluid solid interaction theory [D]. Xi'an: Chang'an University. College of Mechanical Engineering, 2009: 50-54.
GUO Gang, XU Hui. Geometrical non-linear calculation for boom structure of truck concrete pump [J]. Construction Machinery. 2007, 27(3): 69-70, 73.
Komainda A, Hiller M. Control of heavy load manipulators in varying environments, 1999 [C].
Korayem M H, Heidari A, Nikoobin A. Maximum allowable dynamic load of flexible mobile manipulators using finite element approach [J]. The International Journal of Advanced Manufacturing Technology, 2009, 45(11-12):1232.
Jin M, Wu D. Collision-Free and Energy-Saving Trajectory Planning for Large-Scale Redundant Manipulator Using Improved PSO [J]. Mathematical Problems in Engineering, 2013, 2013.
Hiller M. Modelling, simulation and control design for large and heavy
Nissing D. A vibration damped flexible robot: Identification and parameter optimization [C]. Proceedings of the American Control Conference. Chicago: IEEE Press, 2000: 1715-1719.
Cazzulani G, Moschini S, Resta F, et al. A diagnostic logic for preventing structural failure in concrete displacing booms[J]. Automation in Construction, 2013.
Resta F, Ripamonti F, Cazzulani G, et al. Independent modal control for nonlinear flexible structures: An experimental test rig [J]. Journal of Sound and Vibration, 2010, 329(8):961-972.
Lenord O, Fang S, Franitza D, et al. Numerical Linearisation Method to Efficiently Optimise the Oscillation Damping of an Interdisciplinary System Model [J]. Multibody System Dynamics, 2003, 10(2): 201-217.
Sun X, Ye H, Fei S. A closed-loop detection and open-loop control strategy for booms of truck-mounted concrete pump [J]. Automation in Construction, 2013, 31:265-273.
Open Science Scholarly Journals
Open Science is a peer-reviewed platform, the journals of which cover a wide range of academic disciplines and serve the world's research and scholarly communities. Upon acceptance, Open Science Journals will be immediately and permanently free for everyone to read and download.
Office Address:
228 Park Ave., S#45956, New York, NY 10003
Phone: +(001)(347)535 0661
Copyright © 2013-, Open Science Publishers - All Rights Reserved