MOTION OF THE LIFTED LOAD BROUGHT BY A KINEMATIC FORCING OF THE CRANE TELESCOPIC BOOM

In this work the kinematics of the crane telescopic boom is studied for all possible movements produced by its controls. The controls producting the change of boom length, rope length, angle of boom inclination and rotation angle are considered. The controls may be arbitrary in the class of continuous functions. For the description of kinematics of the boom end, where the rope with the lifted load passes, Cartesian coordinate systems have been applied in such a way that their relative motions are translatory. This considerably simplifies the description. The equations for lifted load motions, considered as a particle, have then been derived. The initial problem obtained has been solved using the Runge-Kutta method of the fourth order. © 1990.