Boom with Ideal Actuation (Test Harness)

This example shows the boom portion of a boom lift with ideal actuation. It includes mechanisms to orient, raise, and position a basket where the operator can stand. The model is used to identify requirements for the boom actuators.

This model is a test harness from the main model (see documentation)

Contents

Model

Open Model

Component Under Test

The component under test is the entire boom mechanism for lifting, tilting, extending, and rotating the boom and basket of a boom lift.

The tower portion can raise and tilt the telescoping arm. A linear actuator and pulleys to extend and retract the arm.

Two opposing pulley systems (retract and extend) are on the telescoping arm, each with two cables.

The extension pulley system has two cables that wrap around the same pulley.

The retraction pulley system has two cables that wrap around two separate pulleys. They also each have a pulley constraint that represents a fixed pulley that acts as a guide near the attachment point to the base beam.

Actuators can raise the basket and orient it with respect to the boom.

Simulation Results: Turret Sequence

The plot below shows a test sequence designed to rotate the boom. Motions of all joints are specified so that this sequence can be used on a full model of the boom lift that uses prescribed motion for any combination of the actuators.

Motion of the turret and basket rotation actuators along with applied actuator torque.

Simulation Results: Lift Sequence

The plot below shows a test sequence designed to lift the boom. Motions of all joints are specified so that this sequence can be used on a full model of the boom lift that uses prescribed motion for any combination of the actuators.

Motion of the lift, extend, and jib actuators along with applied actuator force.

Simulation Results: Tilt Sequence

The plot below shows a test sequence designed to tilt and extend the boom. Motions of all joints are specified so that this sequence can be used on a full model of the boom lift that uses prescribed motion for any combination of the actuators.

Motion of actuators along with applied actuator force.