TERM PAPER

FLUID MECHANICS
MEC 207

Topic: Working of a crane and role of hydraulics in its working

Submitted to: Submitted by:

Mr. Deepak Khurana Jahid Mohammad

Dept. Of Mechanical Roll. No. RB4911A10

Reg.No. 10900832

Class. B4911
 ACKNOWLEDGEMENT

I have much pleasure in submitting this term paper to Mr. Deepak Khurana. Constructive
work bears the impression of nationally the person who has undertaken it but also those who
were the motivating force in this completion likewise my term paper carries the imprint of
many persons.

At the outset, I would like to thank who gave me the opportunity to undergo my term paper at
Lovely Professional University and I am grateful to my project guide Mr. Deepak Khurana
for his able guidance, care and understanding nature. Without his support, this term paper
would have never been completed. He also showed me the light, whenever and wherever the
path was dark and bumpy.

And at last but not least I would also like to thank all my friend and colleagues who where the
source of inspiration behind the successful completion of my term paper.

Jahid Mohammad

RB4911A10

10900832

INTRODUCTION
A lifting device used for the lifting and
lowering and horizontal movement of a
load with a hoisting mechanism. Cranes
can be fixed or mobile and can be driven
manually or powered.
Cranes exist in an enormous variety of
forms – each tailored to a specific use.
Sizes range from the smallest jib cranes,
used inside workshops, to the tallest tower
cranes, used for constructing high
buildings. For a while, mini - cranes are
also used for constructing high buildings,
in order to facilitate constructions by
reaching tight spaces. Finally, we can find
larger floating cranes, generally used to
build oil rigs and salvage sunken ships.
This article also covers lifting machines
that do not strictly fit the above definition
of a crane, but are generally known as
cranes, such as stacker cranes and loader
cranes.
MECHANICAL PROPERTIES
Lifting Capacity
The lever. A balance crane contains a
horizontal beam (the lever) pivoted about a
point called the fulcrum. The principle of the
lever allows a heavy load attached to the
shorter end of the beam to be lifted by a
smaller force applied in the opposite direction
to the longer end of the beam. The ratio of the
load's weight to the applied force is equal to
the ratio of the lengths of the longer arm and
the shorter arm, and is called the mechanical
advantage. The pulley. A jib crane contains a
tilted strut (the jib) that supports a fixed pulley
block. Cables are wrapped multiple times
round the fixed block and round another block
attached to the load. When the free end of the
cable is pulled by hand or by a winding
machine, the pulley system delivers a force to
the load that is equal to the applied force
multiplied by the number of lengths of cable
passing between the two blocks. This number
is the mechanical advantage. The hydraulic
cylinder. This can be used directly to lift the
load or indirectly to move the jib or beam that
carries another lifting device. Cranes, like all
machines, obey the principle of conservation
of energy. This means that
the energy delivered to the load cannot exceed
the energy put into the machine. For example,
if a pulley system multiplies the applied force
by ten, then the load moves only one tenth as
far as the applied force. Since energy is
proportional to force multiplied by distance,
the output energy is kept roughly equal to the
input energy (in practice slightly less, because
some energy is lost to friction and
other inefficiencies). The same principle can
operate in reverse. In case of some problem,
the combination of heavy load and great
height can accelerate small objects to
tremendous speed (see trebuchet). Such
projectiles can result in severe damage to
nearby structures and people. Cranes can also
get in chain reactions; the rupture of one crane
may in turn take out nearby cranes.
Stability
For stability, the sum of all moments about
any point such as the base of the crane
must equate to zero. In practice, the
magnitude of load that is permitted to be
lifted (called the "rated load" in the US) is
some value less than the load that will
cause the crane to tip (providing a safety
margin).
Under US standards for mobile cranes, the
stability-limited rated load for a crawler
crane is 75% of the tipping load. The
stability-limited rated load for a mobile
crane supported on outriggers is 85% of
the tipping load. These requirements,
along with additional safety-related
aspects of crane design, are established by
the American Society of Mechanical
Engineers [2] in the volume ASME B30.5-
2007 Mobile and Locomotive Cranes.
Standards for cranes mounted on ships or
offshore platforms are somewhat stricter
because of the dynamic load on the crane
due to vessel motion. Additionally, the
stability of the vessel or platform must be
considered.
For stationary pedestal or kingpost
mounted cranes, the moment created by
the boom, jib, and load is resisted by the
pedestal base or kingpost. Stress within the
base must be less than the yield stress of
the material or the crane will fail.
Lifting Medium
The component that provides the vertical
raising and lowering of a load. Wire rope
and chain are commonly used lifting
mediums.
HYDRAULICS
In the hydraulic technology we transmit and
control forces and velocities by transmitting
and controlling pressure and flow. In nearly
every kind of technology we use hydraulic
drive and control techniques. It is also
known as the power created by the motion
and pressure of fluids. Hydraulics is a topic
in applied science and engineering dealing
with the mechanical properties
of liquids. Fluid mechanics provides the
theoretical foundation for hydraulics, which
focuses on the engineering uses of fluid
properties. In fluid power, hydraulics is used
for the generation, control, and transmission
of power by the use of pressurized liquids.
Hydraulic topics range through most science
and engineering disciplines, and cover
concepts such as
pipe flow, dam design, fluidics and fluid
control
circuitry, pumps, turbines, hydropower, com
putational fluid dynamics, flow Hydraulic truck cranes are used to lift
measurement, river channel behavior and heavy loads to tall heights, and it's
erosion. important that the truck be completely
stable during the lifting operation.
Hydraulic systems operate according to
The tires don't offer the stability needed,
Pascals law. The law of Blaise Pascal says:
so the truck employs outriggers that act as
The pressure, in a static hydraulic fluid in
balances to keep the crane from leaning
a closed system is everywhere the same. In
too much to one side or the other. The
a simple hydraulic system, when one
outriggers use hydraulics to lift the entire
piston is pushed down, another piston is
truck, tires and all, off the ground. The
pushed up.
outriggers are comprised of the beam,
which is the leg of the outrigger, and the
Pressure in a hydraulic system is created
pad, which is the foot. Sometimes, "floats"
by one of two types of hydraulic pumps,
are placed under the pad to dissipate the
variable-displacement pumps and gear
force of the crane and the load over
pump.
concrete or pavement. Floats are usually
Parts of a Hydraulic Truck Crane wood planks that are lined up to create a
base that is larger than the pad itself.
Although everything on the truck begins
and ends with the hydraulic system, there's
more to a hydraulic truck crane than the
Minimum-force redundancy
hydraulics. There are many components
involved in lifting a load. Here are the control of hydraulic cranes:
basic parts of every hydraulic truck crane-
The kinematic redundancy of a common
boom, jib, rotex gear, outriggers,
type of RRP hydraulic crane moving in a
reinforced-steel cable, hook.
quasistatic manner in the vertical plane is

The most recognizable part of any crane is considered. Redundancy is solved by

the boom. This is the steel arm of the crane minimizing the norm of actuator forces

that holds the load. Rising up from just required to support the load at a given

behind the operator's cab, the boom is the location without exceeding the actuator

essential piece of a crane, allowing the stroke limits. Approximate analytical

machine to raise loads to heights of several solutions are derived showing that

dozen feet. minimum actuator forces are obtained for

maximum arm of actuator force 1, for
maximum length of actuator 2, for
minimum length of actuator 3, or for boom
1 in a horizontal position. The overlapping
of these solutions covers most of the crane
workspace and is shown to be in excellent
agreement with the numerical optimization
solution. The proposed redundancy
solution is suitable for real-time
implementation in a computer-controlled
crane, while the actuator force
minimization leads also to a cost-effective
design.
ABSTRACT
The kinematic redundancy of a common
type of RRP hydraulic crane moving in a
quasistatic manner in the vertical plane is
considered. Redundancy is solved by
minimizing the norm of actuator forces
required to support the load at a given
location without exceeding the actuator
stroke limits. Approximate analytical
solutions are derived showing that
minimum actuator forces are obtained for
maximum arm of actuator force 1, for
maximum length of actuator 2, for
minimum length of actuator 3, or for boom
1 in a horizontal position. The overlapping
of these solutions covers most of the crane
workspace and is shown to be in excellent
agreement with the numerical optimization
solution. The proposed redundancy
solution is suitable for real-time
implementation in a computer-controlled
crane, while the actuator force
minimization leads also to a cost-effective
design.