1/12/2007 · The design of the Kinematics controller provides interfaces with external sensors and simulation packages. It also has allowed the implementation of the MATLAB Robotics Toolbox functions. Other functions such as motion planning and limits reach warning issuing are included in the kinematics …
kinematics law, dynamics characteristic and motion control. So a new science branch has emerged and lots of coupling dynamic characteristics of boom system in concrete pump truck", Advances in Mechanical Engineering 2015, 7(03): 1687814015573854.
Abstract. Due to the light-weight construction of modern large-scale manipulators used, e.g., in mobile concrete pumps, the elasticity of the construction elements plays a significant role in the dynamic behaviour of the system. Therefore, current research is concerned with control strategies for active damping of elastic vibrations and trajectory
br000030 J. Henikl, W. Kemmetmüller, M. Bader, A. Kugi, Modelling, simulation and identification of a mobile concrete pump, Mathematical and Computer Modelling of Dynamical Systems, 21 (2015) 180-201. Google Scholar Cross Ref br000035 Henikl, J
Concrete pump truck plays an important role in infrastructure construction and national economic development. In recent years, its boom system becomes longer, …
Introduction. In this project, the working process of an excavator will be simulated by multi-body dynamic software Adams. The mechanical system consists of the rotation platform, bucket arm, bucket arm cylinder, boom, boom cylinder, bucket, rocker and rod et al. It can complete various mining tracks through controlling the movement of cylinder.
6/4/2015 · Boom system is the key part of concrete pump truck, and its work is to transport concrete to the pouring position. In recent years, boom system becomes longer. …
Booms of modern mobile concrete pumps are vulnerable to elastic vibrations due to the light-weight construction. Although these vibrations can be effectively damped with appropriate controllers, the residual movement of the tool center point (TCP) during the pumping process is still uncomfortable for the workers guiding the end hose.
mounted concrete pump boom is typical flexible structure. Due to the increasing of boom length, the flexible characteristics play important role in the dynamics behavior. Three simulation models are built. The first is rigid model. The second is
This is beacuse the force allignes with the joint between arm and boom, so the whole load is directly transfered to the boom. At 1,5m of depth, the boom cylinders push for 350kN. In this case the cylinders have a bore of 115mm and the same pressure of 34MPa, but work only pushing so the maximum force obtained from the previous source as before is of 365kN.
The estimation and control concepts are evaluated by extensive simulation studies on a validated mathematical model of a mobile concrete pump. View Show abstract Tests to Establish Concrete
Modelling, simulation and identification of a mobile concrete pump J. Henikl *, W. Kemmetmüller, M. Bader and A. Kugi Automation and Control Institute, Vienna University of Technology, Vienna, Austria (Received 30 September 2013; accepted 17 May 2014)
1/1/2013 · DYNAMIC MODEL For the analysis, the design and the verification of control strategies, a simulation model of the mobile concrete pump has been developed. For this purpose of readability, the equations of motion as presented in Henikl et al. (2012) are summarized in the sequel. 3.1 Modeling of the mechanical subsystem The following assumptions and simplifications are made for the mathematical model of the boom.
In order to get the truck mounted concrete pump boom kinematic rule and vibration characteristic, the motion simulation results of the above working conditions are studied. Each boom is driven by its hydraulic actuator. The actuators motion is in Table 4. In every
Modelling, simulation and identification of a mobile concrete pump J. Henikl*, W. Kemmetmüller, M. Bader and A. Kugi Automation and Control Institute, Vienna University of Technology, Vienna, Austria (Received 30 September 2013; accepted 17 May 2014)
Based on a 24m-3R mobile concrete pump manipulator, the parametric simulation is carried out. The reliability of the static deformation-compensation method is verified, and the error is analyzed.
To enable a large operating range (up to approx. 60m) while being able to transport the boom on a standard truck, the boom of these mobile concrete pumps is constructed in a lightweight design. Due to the complex kinematics with up to 6 individual joints and the large working areas, an optimal manual operation by a human operator is cognitively not possible.
1/1/2013 · Keywords: flexible link manipulator, hydraulic actuator, multibody system, mobile concrete pump, feedback control. 1. INTRODUCTION In the last decades, improved construction techniques and production methods have led to a permanent reduction of the weight of booms of modern mobile concrete pumps (see for example Figure 1).
Cazzulani et al. selected a 4-section boom mobile concrete pump truck and analyzed the load characteristics of them. Then, the boom damage was calculated by stress signal [ 3 ]. Sun et al. used a closed-loop detection and open-loop control strategy on the vibration suppression of a truck-mounted concrete displacing boom using angle signals [ 4 ].