Dynamics characteristics of multi-stage combined type large angle luffing mechanism

Abstract

In order to research the dynamics characteristics of multi-stage combined type large angle luffing mechanism, the hierarchical method was used to deduce forward kinematics equations, inverse kinematics equations, the first-order velocity Jacobian matrix, and the second-order acceleration Hessian matrix. Then Lagrange dynamics equation with standard form about the actuators of luffing mechanism was established. Based on the MATLAB function, the mathematical model was used to simulate and analyze the load of front hydraulic cylinder and back hydraulic cylinder using two kinds of luffing methods. The load of cylinder also was studied by building test platform of luffing mechanism. The results show that the mathematical model can predict the dynamics characteristics of multi-stage combined type large angle luffing mechanism, and the luffing method in which the front hydraulic cylinder retracts first show better mechanical behavior than the luffing method in which the back hydraulic cylinder retracts firstly.