Boom Lift Crawler with Ideal Actuation (Test Harness)
This example models a boom lift and its chassis with ideal actuators. The model is used to identify requirements for the actuators. The lift has 6 actuators in the chassis, 7 actuators in the boom, and one other passive hydraulic cylinder.
This model is a test harness from the main model (see documentation)
Component Under Test
The component under test is the entire boom lift mechanism (chassis and boom). All linkages are modeled as well as ground contact for the outriggers and the tracks.
This system models the chassis with the outriggers to keep the boom level and the tracks for moving the entire boom lift.
This system models the boom with linkages and a telescoping beam to raise and position the basket.
Simulation Results: Full 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 outriggers along with applied actuator force.
Motion of the tracks along with applied actuator force.
Motion of the lift, extend, and jib actuators along with applied actuator force.
Motion of the tilt, and basket leveling actuators along with applied actuator force.
Motion of the turret and basket rotation actuators along with applied actuator torques.