Dynamics analysis of a crane with consideration of a load geometry and a rope sling system

In the paper, the authors present a general mathematical model of an open-loop kinematic chain with auxiliary sub-chains in application to the dynamics analysis of an exemplary boom crane. The developed model takes into account the influence of the load geometry (with particular attention to all its inertial moments), the rope sling system, and the flexibility of the drives and the selected link of the crane on the dynamic response of the crane and the load. The dynamics equations are derived using a formalism of joint coordinates, homogeneous transformation matrices, and Lagrange equations of the second kind. The mathematical model has been successfully validated using the commercial MSC.Adams program and the ANSYS-MSC.Adams program interface and then the influence of the aforementioned factors on the behavior of the load and the crane drives is assessed using the kinetic energy, positioning, and RMS indicators.