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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: Crawler crane modeling was the premise and foundation of crawler crane path planning, but the research on crawler crane modeling is not systematic enough. Taking the LR1400-2 crawler of Liebherr as an example, a kinematic modeling method of crawler crane for hoisting path planning was proposed, and the kinematic modeling of crawler crane was theoretically derived, simulated and tested. Firstly, the virtual connecting rod and passive joints were used to model the rigid-flexible hybrid hoisting system, and on this basis, the configuration space of the crawler crane was determined. Then, the forward kinematics model and inverse kinematics model of the crawler crane were constructed, and the corresponding solution methods were given. Finally, the constructed forward kinematics model and inverse kinematics model were applied to hoisting path planning. The validity of the kinematic modeling method of the crawler crane was verified by planning three different hoisting paths. The results show that the forward kinematics model of the crawler crane can accurately determine the position and attitude of each component of the crawler crane in the configuration space, which provides a guarantee for its collision detection. The inverse kinematics model can provide a fast solution method for lifting configuration and positioning configurations.
Key words: crawler crane; crawler crane configuration space; collision detection; forward/inverse kinematics model; lifting configuration; rigid-soft hybrid
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- Chinese Core Periodicals
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- Chinese Sci-tech Core Periodicals
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- SA, INSPEC Indexed
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