Abstract: The stability of truck cranes has always been a hot research topic. In order to measure the stability of the truck crane,and improve the construction efficiency and safety of the lifting operation, the anti-overturning stability of the truck crane is calculated by using the zero-moment point (ZMP) theory and considering the impact of dynamic load. First, the mechanical model of the truck crane was established and the solution formula of the zero-moment point was obtained to improve the accuracy of the theoretical model. Lagrangian equation was used to analyze the dynamic model of truck crane.Secondly, the stability of truck crane was analyzed by ZMP theory, and the maximum lifting weight was obtained. Then, the reliability of ZMP theory was verified through experiments, and the influence of hoisting swing, luffing motion and slewing motion on the maximum lifting capacity was analyzed.Finally, an antioverturning detection method based on ZMP theory was proposed. The research shows that the operation is more dangerous when the stability index is closer to 1. The operation risk increases with the decrease of luffing angle. At the same luffing angle, the risk is the greatest when the rotation angle is at 90°and 270°. The risk is the least when the boom works near the outrigger.

Key words: wheeled selfpropelled crane; maximum lifting capacity; antioverturning; zero moment point (ZMP); hoisting swing; luffing motion; slewing motion