Abstract
A dynamics analysis of a forest crane, with a special consideration of friction in joints, is considered. The LuGre friction model is applied in all revolute and prismatic joints of the crane. A load handling simulation is performed for a typical operation. Various friction factors and loading conditions are examined. As shown, friction phenomena plays a significant role when defining loads acting on crane elements.Keywords:
friction, stick-slip motion, crane dynamicsReferences
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[3] Urbaś A., Harlecki A., Application of the rigid finite element method and the LuGre friction mode in the dynamic analysis of the grab crane, 4th Joint International Conference on Multibody System Dynamics, Montreal, Canada, May 29–June 2, 2016.
[2] Craig J.J., Introduction to robotics: Mechanics and Control, 2nd Edition, Addison-Wesley Publishing Company Inc., 1989.
[3] Urbaś A., Harlecki A., Application of the rigid finite element method and the LuGre friction mode in the dynamic analysis of the grab crane, 4th Joint International Conference on Multibody System Dynamics, Montreal, Canada, May 29–June 2, 2016.
