Dynamics analysis of a truck-mounted crane with the LuGre friction model in the joints

A dynamics analysis of a selected truck-mounted crane is presented in this article. A mathematical model of the crane, considered in a form of an open-loop kinematic chain, allows to take into account flexibility of its support system, hoist rope and drives of particular links, and also friction in the joints. The geometry of the crane model is described using the Denavit-Hartenberg notation based on joint coordinates and homogeneous transformation matrices. Its equations of motion were derived on basis of the Lagrange formalism. The LuGre model was used to describe friction in the joints.