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Authors: Lingchong Gao 1 ; Yingpeng Zhuo 2 ; Michael Kleeberger 1 ; Haijun Peng 2 and Johannes Fottner 1

Affiliations: 1 Chair of Materials Handling, Material Flow, Logistics, Technical University of Munich, Garching, Germany ; 2 Department of Engineering Machenics, Dalian University of Technology, Dalian, P.R. China

Keyword(s): Long Boom Manipulator, Geometrically Exact Beam, Multi-body Dynamic, Nonlinear System.

Abstract: The boom system of the aerial platform vehicle and the fire-rescue turntable ladder can be considered as a long boom manipulator. Due to the slenderness of the boom structure, there are always some vibrations occurring during the operation. In order to control the vibration, reliable dynamic modeling and simulation are necessary. In this paper, we propose a model of the long boom manipulator, especially the folding boom system, as a flexible-rigid coupled multi-body system. And the flexible long boom structure is formulated as a geometrically exact Euler-Bernoulli beam with hybrid interpolation for discretization. The governing equations of the system dynamics are established according to the principle of virtual power. A dynamic simulation of the spatial motion of the long boom manipulator is performed and the results are analyzed.

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Paper citation in several formats:
Gao, L.; Zhuo, Y.; Kleeberger, M.; Peng, H. and Fottner, J. (2020). Modeling and Simulation of Long Boom Manipulator based on Geometrically Exact Beam Theory. In Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH; ISBN 978-989-758-444-2; ISSN 2184-2841, SciTePress, pages 209-216. DOI: 10.5220/0009830402090216

@conference{simultech20,
author={Lingchong Gao. and Yingpeng Zhuo. and Michael Kleeberger. and Haijun Peng. and Johannes Fottner.},
title={Modeling and Simulation of Long Boom Manipulator based on Geometrically Exact Beam Theory},
booktitle={Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH},
year={2020},
pages={209-216},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009830402090216},
isbn={978-989-758-444-2},
issn={2184-2841},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH
TI - Modeling and Simulation of Long Boom Manipulator based on Geometrically Exact Beam Theory
SN - 978-989-758-444-2
IS - 2184-2841
AU - Gao, L.
AU - Zhuo, Y.
AU - Kleeberger, M.
AU - Peng, H.
AU - Fottner, J.
PY - 2020
SP - 209
EP - 216
DO - 10.5220/0009830402090216
PB - SciTePress

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