Static Modelling and Stability Analysis of Non-Slewing Articulated Mobile Cranes

106 Pages·2012·3.24 MB·English

Static Modelling and Stability Analysis of
Non-Slewing Articulated Mobile Cranes

by

Jing Wu (20475615)

This thesis
is presented for the degree of
Master of Engineering by Research
of The University of Western Australia
in
School of Mechanical and Chemical Engineering

Western Australia, Australia, 2012
Abstract

Non-slewing articulated mobile (NSAM) cranes are widely used in construction,
manufacturing, and mining industries in Australia. However, the occurrence of several
tipping accidents in Australia has raised concerns about their stability. This project aims to
explore the operating factors contributing to the NSAM crane tipping accident, examine the
inherent stability of the NSAM crane design, and suggest the potential development of a new
monitoring system to reduce the likelihood of the accidents. It does this using geometrical
modelling and theoretical static force analysis. A general static model for the stability study
of NSAM cranes on slopes with various orientations is developed and an investigation into
the tip-over and roll-over stabilities of the model under a number of static conditions is
presented in this thesis. Based on the developed model, the articulation angle, the slope
gradient, the orientation angle, and the height of the boom are the main operating factors
contributing to the NSAM crane tipping accidents. The results of the examination of the
inherent NSAM crane design suggests that having the articulation joints at the centre of the
wheel base is a suitable design for NSAM cranes for the maneuverability and tip-over
stability but not for the roll-over stability. After the explanation of the shortcomings of the
current monitoring system for NSAM cranes, this project suggests the potential development
of a new monitoring system based on the result of the developed model. Such a device would
likely increase the safety of these machines.

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Statement Candidate Contribution

I hereby declare that I am the sole author of this thesis. This is a true copy of the thesis and
not accepted by any other institutions.

I understand that my thesis may be made electronically available to the public.

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Acknowledgements

I would like to take this opportunity to express my deep gratitude and appreciation to those
people who have helped me to complete my Master of Engineering by Research program,
and to individuals to whom I am very much indebted and who, without their support, this
achievement would not have been possible.

First of all, special thanks to my supervisors, Professor Melinda Hodkiewicz and Research
Assistant Professor Andrew Louis Guzzomi, both of whom greatly contributed to the
successful outcome of this project. I thank them for their guidance, enthusiasm and support.

Also I wish to express my thanks to my former supervisor Dr Nathan Scott for his guidance
and support of this project at an earlier stage.

Moreover, the information and data provided by the Monadelphous is gratefully
acknowledged. Especially to Darryl Reeves, Brad McLean, Lee Rollings, and Michael
Pietrutie.

Many thanks to my friends, with them I have shared so much fun and so many good times
over the past two years in Western Australia. Many thanks to all the members of my family
for their support and encouragement. Finally, my greatest appreciations and thanks are
dedicated to my parents from whom I have taken the lesson of life. I am very proud of them.

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Table of Contents

List of Figures ........................................................................................................... viii
List of Tables ................................................................................................................ x
List of Abbreviations.................................................................................................... xi
Nomenclature ..............................................................................................................xii
1 Introduction ........................................................................................................... 1
1.1 Motivation ...................................................................................................... 1
1.2 Scope and Objectives ...................................................................................... 2
1.3 Chapter Outline ............................................................................................... 2
1.4 The Significances of This Study ...................................................................... 3
2 Literature Review and Theory ............................................................................... 4
2.1 Chapter Aims .................................................................................................. 4
2.2 NSAM Crane .................................................................................................. 4
2.3 Literature Review............................................................................................ 6
2.4 Problem Statement ........................................................................................ 15
2.5 Hypothesis .................................................................................................... 15
2.6 Chapter Summary ......................................................................................... 17
3 Methodology ....................................................................................................... 18
3.1 Chapter Aims ................................................................................................ 18
3.2 Map of Methodology...................................................................................... 18
3.3 Model Development ...................................................................................... 20
3.4 Case Study .................................................................................................... 21
3.5 Chapter Summary ......................................................................................... 21
4 Theoretical Modeling .......................................................................................... 23
4.1 Chapter Aims ................................................................................................ 23
4.2 Approach of The Model Development .......................................................... 23
4.3 Assumptions ................................................................................................. 24
4.4 General Model Development......................................................................... 25
4.5 Specific Models Development ....................................................................... 32
4.5.1 Tip-over Stability on Level Ground ........................................................ 32
4.5.1.1 Without Articulation Angle ........................................................... 32
4.5.1.2 With Articulation Anlge ................................................................ 34
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4.5.2 Roll-over Stability Across a Side Slope .................................................. 36
4.5.2.1 Without Articulation Angle ........................................................... 36
4.5.2.2 With Articulation Anlge ................................................................ 38
4.6 Result Validation .......................................................................................... 42
4.7 Chapter Summary ......................................................................................... 46
5 Case Study .......................................................................................................... 47
5.1 Chapter Aims ................................................................................................ 47
5.2 Case Analysis ............................................................................................... 47
5.2.1 Articulaiton Angle ................................................................................. 49
5.2.2 Slope Gradient ....................................................................................... 51
5.2.3 Orientation Angle .................................................................................. 53
5.2.4 Height of the Load/Boom ....................................................................... 55
5.2.5 Attached Counter Weight ........................................................................ 56
5.3 Chapter Summary ......................................................................................... 58
6 Discussion ........................................................................................................... 59
6.1 Chapter Aims ................................................................................................ 59
6.2 Examine the Current Frame Design .............................................................. 59
6.2.1 Tip-over Stability ................................................................................... 60
6.2.2 Roll-over Stability.................................................................................. 66
6.3 A Potential Development of the Monitoring System ...................................... 72
6.3.1 Shortcomings of the Current Monitoring System .................................... 72
6.3.2 The design of the New Monitoring System for NSAM cranes ................ 73
6.4 Limitations of the Project .............................................................................. 77
6.4.1 Model Limitation ................................................................................... 77
6.4.2 Information Limitation ........................................................................... 78
6.4.3 Pratical Test Limitation .......................................................................... 78
6.5 Chapter Summary ......................................................................................... 78
7 Conclusion .......................................................................................................... 80
7.1 Thesis Summary ........................................................................................... 80
7.2 Future Work .................................................................................................. 82
References .................................................................................................................. 83
Appendix A: ............................................................................................................... 87
Appendix B: ................................................................................................................ 89
Appendix C: ................................................................................................................ 90
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PUBLICATIONS FROM CANDIDATURE ............................................................... 92

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List of figures

2-1 Schematic representation of a NSAM crane with component labels ................ 5
2-2 Schematic representation of stabilities of a NSAM crane ................................ 6
2-3 Schematic representation of a NSAM crane and a typical FELASV with
roll-OL denoted, a) NSAM crane ; b) FELASV ............................................ 12
2-4 Relation between l , l and the turning radii of the anterior and the
1 2
posterior bodies for: a) l <l ; b) l =l ; and c) l >l of a left turning
1 2 1 2 1 2
NSAM crane................................................................................................. 16
3-1 Map of methodology .................................................................................... 19
3-2 The flow chart of the Model Development .................................................... 20
4-1 Schematic of a NSAM crane on slope with orientation angle (γ) from
00 ~3600...................................................................................................... 24
4-2 Schematic of a NSAM crane across a side slope with individual COG
locations, geometry and coordinated systems indicated ................................. 26
4-3 FBD of a NSAM crane on level ground in the: a) straight, and b)
articulated configurations.............................................................................. 33
4-4 Schematic of a straight NSAM crane across a side slope with COG
locations, geometry and coordinated systems indicated ................................. 36
4-5 Schematic of an articulated NSAM crane across a side slope with COG
(C) locations, geometry and coordinate systems indicated for the cases of:
a) anterior body higher than posterior body, and; b) posterior body higher
than anterior body ........................................................................................ 40
4-6 Schematic Representation of configurations according to Table 4-1 .............. 43
4-7 Distance from COG to OL as a function of orientation angle ......................... 44
5-1 Rollover accident (Universal crane, 2009) .................................................... 48
5-2 The relationship between the distance from the combined COG to the OL
and the articulation angle .............................................................................. 50
5-3 The relationship between the distance from the combined COG to the OL
and the slope gradient ................................................................................... 52
5-4 Comparison of the distance from the COG to the OL between 00and 400
articulation angle on a slope of 50 ................................................................. 54
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5-5 The relationship between the distance from the combined COG to the OL
and the boom angle ....................................................................................... 55
5-6 The comparison of the distance from the combined COG to the OL when
counter weight is not attached, attached on anterior body, and attached on
posterior body ............................................................................................... 57
6-1 Schematic Representation Configurations according to Table 6-1: a)
G l +G l >G l +G l ; b) G l +G l =G l +G l ; c)
m 5 b 6 f 3 r 4 m 5 b 6 f 3 r 4
G l +G l <G l +G l ............................................................................... 63
m 5 b 6 f 3 r 4
6-2 The relationship between the combined normal forces on the rear tyres
(N +N ) and the distance from the rear drive axle to the centre of the
RL RR
articulation joints (l ) for three configurations .............................................. 64
2
6-3 Example One of the operation procedure of a NSAM crane .......................... 67
6-4 Example Two of the operation procedure of a NSAM crane ......................... 68
6-5 Schematic representation of configurations according to Table 6-3 ............... 69
6-6 The relationship between the ditance from the combined COG to the OL
and the orientation angle ............................................................................... 70
6-7 Example of current monitoring system on NSAM cranes (Robway, 2007) .... 72
6-8 The concept of the new design of the monitoring system .............................. 74
6-9 Roll angle β ................................................................................................ 75
1
6-10 Pitch angle β .............................................................................................. 75
2
B-1 Lifting chart of manual extension retracted of Franna AT-14 ........................ 89
C-1 The schematic representation of the NSAM crane with different ranges of
l and l : a) l >l ; b) l =l ; and c) l <l ................................................... 90
1 2 1 2 1 2 1 2

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List of Tables

2-1 The differences between the typical MB crane and NSAM crane .................... 8
2-2 Differences between the NSAM crane and FELASV ................................... 11
4-1 Example NSAM crane operting configuration values ................................... 43
5-1 The description and potential cause of an accident from the report ................ 48
5-2 Example input values for the study of roll-over accident ............................... 49
6-1 Example values for tip-over stability analysis ............................................... 62
6-2 Tip-over stability analysis result ................................................................... 65
6-3 Example NSAM crane operating configuration values .................................. 69
6-4 The variation of the distance from the combined COG to the OL under
different design geometries during the example operation procedures
shown in Figure 6.2.2.1 and Figure 6.2.2.2 ................................................... 71
6-5 The classification and resource of the input data ............................................ 74

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