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Journal of Robotics
Volume 2017, Article ID 9182143, 10 pages
Research Article

Modeling and Analysis of Truck Mounted Concrete Pump Boom by Virtual Prototyping

1School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, Henan 453003, China
2State Key Laboratory for High Performance Complex Manufacturing, Central South University, Changsha, Hunan 410083, China
3Hunan Special Equipment Inspection and Testing Research Institute, Zhangjiajie Branch, Zhangjiajie, Hunan 427000, China

Correspondence should be addressed to Wu Ren; moc.621@88uwner

Received 4 February 2017; Accepted 7 May 2017; Published 14 June 2017

Academic Editor: Shahram Payandeh

Copyright © 2017 Wu Ren et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


By far there is lack of research on different working conditions between rigid and flexible dynamics of truck mounted concrete pump booms. First a 3D model has been established by using virtual prototyping technology of a 37 m long boom in Pro/Engineering software. Then the rigid body simulation model has been built. Next modal superimposition method is adopted to change the 4 rigid body booms into flexible ones. Kinematics law and dynamic characteristics of 4 common working conditions had been studied then. Next tip displacement and the first boom hydraulic cylinder force of the 4 working conditions between rigid and flexible models have been researched. Furthermore the first natural frequencies of the structure have been calculated. The results show that the frequency of the horizontal condition has the lowest of all and the roof condition has the largest of all. Besides the cylinder forces of the flexible model are larger than the corresponding rigid ones because of the flexible boom vibration. Finally an experiment has been done on a boom test rig which proved that the established simulation model is reasonable and the frequency results are correct. All of these provide design reference to mechanical manipulator as well as reducing product development cost of such mechanism.