Research on Safety of Wheel Crane Hoisting Process Based on Virtual Prototype Technology

Safety is not taken into account in the optimization result of crane hoisting process trajectory.This paper presented the method to test the safety of crane hoisting process with virtual prototype simulation technology to insure the hoisting process safety.In paper,the position and velocity mapping relationship between the joint revolution and the arm end of crane was derived by deducing forward and inverse kinematics equation and Jacobian matrix of crane which has three freedoms of motion.The crane trajectory planning method which uses quintic polynomial interpolating function was presented.According to the result of trajectory planning,the hoisting process was simulated with ADAMS software.The simulation results were analysed to validate the safety of the crane hoisting process.