Crane Operators Training Based on the Real-Time Multibody Simulation

This paper introduces a real-time multibody simulation approach. Two main sections have been described in depth and include a description of flexible bodies and modeling of a hydraulic system. In flexible bodies, the bodies are modelled using the floating frame of reference formulation. The equation of motion for the body is developed using the principle of virtual work. Penalty method is used when there are constraints in the mechanical system. The hydraulic system is modelled using lumped fluid theory. Two types of components, valves and hydraulic cylinders, are introduced for modelling. A numerical example is developed using two Craig-Bampton modes deformation modes modelled as flexible bodies.