Study of the crawler crane stability affected by the length of compensating ropes and platform rotation angle in the mode of movement with payload

Abstract

Payload uncontrolled oscillations arising during movement of a loaded self-propelled crawler crane at a construction site were reduced by equipping the crane with two additional compensating ropes equal in length and connecting the rotating platform to the load gripping device. This also increased the stability of the entire system. The stability margin moment was used to evaluate the crane stability at individual tipping axes of the crawler support contour. While moving along a random microrelief surface, under the varied length of the compensating ropes and the platform rotation angle, the length reduction increased the mathematical expectation of the stability margin moment for the most loaded lateral tipping axis. The smallest values of the stability margin moment were obtained at the platform rotation angle close to 90 degrees, with the crane stability index being most affected by the compensating rope length. At a zero platform rotation angle, the compensating rope length effect on the stability at the most loaded lateral axis was insignificant. The regression equation of the average stability margin moment affected by the compensating rope length and the platform rotation angle was obtained. The results can be used in the design of advanced self-propelled cable electric crawler cranes.