Abstract
The problem of increasing the efficiency of the crane-manipulator by choosing the modes of movement of the swing mechanism drive during the startup process discussed in this article. Significant dynamic loads occur during the operation of manipulator cranes in the areas of transient processes. They lead to the swinging of the load on the articulated suspension. It leads to a decrease in the performance and reliability of the crane, as well as an increase in the energy consumption of the slewing mechanism drive. Optimization of the mode of movement of the mechanism of rotation of the crane-manipulator is carried out by minimizing the integral dynamic criterion, which is the root-mean-square value of the driving moment of the drive during the transition process. As a result of the optimization, a mode of starting the mechanism for turning the crane-manipulator was found, which reduces to a minimum power loading and fluctuations of the load on a hinged suspension in the radial direction. The obtained optimal start mode of the turning mechanism made it possible to increase the productivity and reliability of the crane-manipulator, as well as to reduce the energy costs of the drive.