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发表时间：2022-10-06

发表刊物：大连理工大学学报

期号：3

页面范围：259-265

ISSN号：1000-8608

摘要：Kinematic and dynamic models are established,which can be used to simulate telescopic crane turntable slewing,boom luffing and telescoping,hook lifting and pulling.The j oint motion of telescopic crane can be described by smooth continuous sine cosine function, and the dynamic equations of hook assembly are derived by Lagrange method.The lifting and pulling length of hook wirerope is described by a time-variant algebraic constraint equation.The dynamic equations and the constraint equation form differential algebraic equations which can be solved by constraint stabilization method.The correctness of the telescopic crane dynamic model is verified through an example.This model can provide information for the research on compound motion control and lifting scheme design of telescopic crane in the virtual reality.

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