DYNAMIC ANALYSIS OF THE HYDRAULIC KNUCKLE BOOM CRANE WHEN LIFTING LOADS OPERATIONS

This article presents the dynamic model of a truck-mounted hydraulic knuckle boom crane when lifting loads operations. The article develops a dynamic model of a hydraulic knuckle boom crane considering the viscoelasticity of the boom-luff cylinder, knuckle cylinder, and extension cylinder. Modeling is constituted for the complex operation of the crane when lifting loads, in which the boom-luff cylinder, knuckle cylinder, and extension cylinder are simultaneously activated. The Lagrange equation of type II is used to build a system of differential equations describing the motion of the mechanical system. On that basis, the article analyzes the dynamic parameters of the crane when lifting loads operations. The results of the article are the basis for the hydraulic knuckle boom crane control problem to improve the performance and reliability of the crane during operation.