Dynamic analysis of the slewing mechanism of a jib crane with a payload suspension in the form of a double pendulum
DOI:
https://doi.org/10.32347/2410-2547.2026.116.393-405Keywords:
jib crane, slewing mechanism, double pendulum, oscillatory processes, driving torque, dynamic loadsAbstract
Gripper devices with weights close to the payload weight are used when jib cranes perform installation work on complex structures. For such cases, the flexible payload suspension is represented by a double mathematical pendulum model. The paper deals with the dynamics of the slewing mechanism of a jib crane with a flexible payload suspension in the form of a double pendulum. The purpose of this study is to construct a mathematical model and perform a dynamic analysis of the jib crane slewing mechanism with a double mathematical pendulum payload suspension. The slewing mechanism is represented by a dynamic model with four degrees of freedom (4-DoF). Based on this model, a mathematical model of the jib crane slewing mechanism is constructed using Lagrange equations of the second kind, forming a system of second-order ordinary differential equations. In this model, the driving torque of the electric motor is described by its dynamic mechanical characteristic. As a result of numerical solving of the equations, the kinematic, dynamic, and energy characteristics of the jib crane slewing mechanism are determined. The study investigates the main movement of the drive mechanism, as well as high-frequency oscillations of drive elements and low-frequency oscillations of the payload and gripper on the flexible suspensionIt is revealed that the dynamics of the slewing mechanism depend on the nature of the driving torque change, while low-frequency oscillations of the payload and gripper practically do not dampen and continue throughout the entire movement cycle.
To reduce dynamic loads and high-frequency vibrations in the drive transmission mechanism, as well as low-frequency vibrations of the gripping device and load on a flexible suspension, it is recommended to select modes of smooth change of the drive torque during start-up and braking, which ensure the desired movement of the load on a flexible suspension.
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