Dynamic Processes of Loader Cranes Manipulators with Excessive Backlashes and Elastic Damping in Their Hinges

This research is aimed at developing a mathematical model and the methodology for computer simulation of hydraulically driven manipulators of mobile cranes having excessive backlashes in cylindrical joints. The authors proposed a structural design and considered the mechanism of reducing the additional impact load in the hinges by means of elastic damping of oscillatory processes. This method allows estimating the degree of influence of the backlash and stiffness of the elastic damper on the change in the quantitative characteristics of the dynamic loading of the manipulators metalwork and the motion parameters of the transported load. While in operation, the excessive backlashes may cause an increase in the level of dynamic loading of manipulators up to 2 times or more. However, the rational choice of the elastic dampers stiffness allows an effective solution to this problem to the point of complete elimination of the additional impact load.