Browse > Article
http://dx.doi.org/10.14775/ksmpe.2018.17.2.145

A Study on the Determination of the Tip-Over Stability of High Place Operation Car Using Multibody Dynamics Program and ZMP  

Kim, Sang Won (Department of Construction Equipment Engineering Graduate School, Kunsan National University)
Jung, Chang Jo (Department of Construction Equipment Engineering Graduate School, Kunsan National University)
Lee, Jung-Hwan (School of Mechanical Convergence System Engineering, Kunsan National University)
Kang, Dong-Myeng (Kunsan Advanced Technology Innovation Center)
Park, Moon-Ho (Jinwoo SMC Co., LTD.)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.17, no.2, 2018 , pp. 145-152 More about this Journal
Abstract
This study deals with the method of determining the tip-over stability of a truck mounted on a high place operation car that is frequently used to carry out high-altitude work. Multibody Dynamics Program and Zero Moment Point (ZMP) theory are used to include dynamic effects during the car's high place operation. Through a combination of the Multibody Dynamics Program and ZMP, understanding the dynamic effects of the car's operating parts and building a detailed tip-over model of the car permitted a more precise prediction of the car's tipping-over behavior. It is also expected to help reduce the car's development time due to the time-effective simulation and provide safer work levels for the operating guide (in terms of working radius and lifting capability) with the dynamics effects.
Keywords
Multibody Dynamics Program; Zero Moment Point; High Place Operation car; Tip-Over; Stability;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Park, H. G., Jang, J. S., Yoo, W. S., Kim, M. S., Lee, H. J., Lee, J. W., "Development of a Design Support Program for Pivot Points of Working Devices in Construction Equipment using Planar Multi-body Dynamic Analysis", Journal of the Korean Society of Manufacturing Process Engineers, Vol.14 No.6, 2015.
2 Lee, J. Y., Cho, J. S., Lee, S. J., "A Study on the Stability of Dynamic Walking of a Humanoid Robot", Journal of the Korean Society of Manufacturing Process Engineers, Vol.15 No.2, 2016.
3 Park, J. S., Lee, K. W., Cho, C. Y., Yoon, J. W., Shin, J. Y., "Flexible Body Dynamics Analysis of Agricultural Tractor Using 4-Post Road Simulator", Transaction of the KSME. C, Vol.3 No.2, 2015
4 Jung, H. S., MATLAB control system analysis and design, ajin, Seoul, Korea., 2012
5 Kim, S. W., Lee, J. H., Chang, S. M., Kang, S. H., Cho, J. S., Kim, H. G.,, "Evaluation of Stability about Roll-Over of Truck Crane Using Multi-Body Dynamics Software", Proc. of the KSME, Spring and Autumn Conference, Vol.2017 No.5, 2017
6 DAFUL, version 6.0 manual, Virtual motion Inc.
7 Um, H., Choi, J. H., Kim, S. S., Yang, S. Y., Lee, J. G., "A Study on Reversal Stability of Hydraulic Excavator for Crane Work", Transaction of th Korean Society of Machine Tool Engineers, Vol.13 No.4, 2004.
8 Lee, H. S., 2009, "A Study on Development of Intelligent Hydraulic Excavator System with Crane Function", Ulsan University Doctoral Thesis.
9 Sardain, P., Bessonnet, G., "Zero Moment Point-Measurements From a Human Walker Wearing Robot Feet as Shoes", IEEE Transactions on Systems, Man and Cybernetics, Vol.34 No.5, 2004.
10 Moon, S. M., 2009, "Development of Turover Prevention Control System for Tele-Operated Excavator Robot Based on Stability Estimation Algorithm", Korea University Master's Thesis.
11 Choi, D., Kim, M., Oh, J. H., "Development of a Rapid Mobile Robot with a Multi-Degree-of-Freedom Inverted Pendulum Using the Model-Based Zero-Moment Point Stabilization Method", Advanced Robotics, Vol.26 No.5-6, 2012.
12 Kim, S. S., Vehicle Dynamics, Jinsaem Media, Seoul, Korea., 2002.
13 Choi, S. B., Industrial Safety Dictionary, Gold, Seoul, Korea., 2004.