Dynamic modelling of 2-DOF luffing mechanism with serial closed kinematic chains

Abstract

Luffing mechanism is a key component of the construction machinery. This paper proposes a two degree of freedom (2-DOF) luffing mechanism, which has one more pair of driving cylinders than the single DOF luffing mechanism, to improve the performance of the machinery. To establish the dynamic model of the 2-DOF luffing mechanism, firstly, we develop a hierarchical method to deduce the Jacobian matrix and Hessian matrix for obtaining the kinematics equations. Subsequently, we divide the luffing mechanism into six bodies considering actuators, and deduce the kinetic equations of each body by the Newton-Euler method. Based on the dynamic model, we simulate the luffing process. Finally, a prototype is built on a pile driver to validate the model. Simulations and experiments show that the dynamic model can reflect the dynamic properties of the proposed luffing mechanism. And the control strategy that the front cylinders retract first shows better mechanical behavior than the other two control strategies. This research provides a reference for the design and application of 2-DOF luffing mechanism on construction machinery. The modeling approach can also be applied to similar mechanism with serial closed kinematic chains, which allows to calculate the dynamic parameters easily and exactly.

Keywords

luffing mechanism / dynamic model / hierarchical method / control strategy / prototype

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