This paper presents a modeling method based on multibody dynamics formulation for simulating the three-dimensional nonlinear seismic response of a large, movable container crane, including the contact problem regarding the wheels attached to the bottom of its legs and the rails on which they ride. As a container crane is large and flexible structure, its wheels should be lifted up and derailed due to the seismic excitation. The contact configuration and the contact forces between the wheels and the rail or the ground that significantly affect the seismic response of the structure are classified and calculated in reference to geometric relationships between contact-judging markers on the wheels and the rails. It is found that the numerical simulations with the presented modeling method quite accurately simulates the nonlinear seismic response of a container crane including the uplifting and derailment behavior of the wheels that is found in large-scale model shaking tests.

Issue Section:
Technical Papers
Keywords:
mechanical contact, force, classical mechanics, cranes, seismology, nonlinear dynamical systems
Topics:
Containers, Cranes, Rails, Wheels, Excitation, Simulation, Modeling, Contact mechanics
1.
Japan Society of Mechanical Engineers, 1996, “The Machines and Industrial Equipments Damage due to the South Hyogo-Prefecture Earthquake,” JSME The Special Investigation Committee on Great Hanshin Awaji Earthquake Damage, pp. 153–163 (in Japanese).
2.
Pfeiffer, F., and Glocker, C., 1996, Multibody Dynamics with Unilateral Contact, John Wiley & Sons.
3.
Tajima, H., Satoh, K., and Higashi, K., 1998, “Contact Problems in Multibody Dynamics (2nd Report),” Proc. of Dynamics and Design Conference ’98, JSME, No. 98-8 I, Vol. B, pp. 780–783, (in Japanese).
4.
Babitsky, V. I., 1999, Dynamics of Vibro-Impact System, Springer, Berlin.
5.
Khulief
,
Y. A.
, and
Shabana
,
A. A.
,
1987
, “
A Continuous Force Model for the Impact Analysis of Flexible Multibody Systems
,”
Mech. Mach. Theory
,
22
(
3
), pp.
213
–
224
.
6.
Kanayama, T., Kashiwazaki, A., Shimizu, N., Nakamura, I., and Kobayashi, N., 1998, “Large Shaking Table Test of a Container Crane by Strong Ground Excitation,” Proc. of Pressure Vessels and Piping Conference, PVP-Vol.364, ASME, pp. 243–249.
7.
Kuribara, H., and Kobayashi, N., 1999, “Seismic Response of Large Flexible Structure Including Contact Problem,” Proc. of Design Engineering Technology Conference, ASME, CD-ROM, DETC99/VIB-8234.
8.
Goldstein, H., 1980, Classical Mechanics, Addison-Wesley.
9.
Haug, E. J., 1989, Computer Aided Kinematics and Dynamics of Mechanical System, Allyn and Bacon, Boston.
10.
Shabana, A. A., 2001, Computational Dynamics, second edition, John Wiley & Sons.
Copyright © 2004
 by ASME
You do not currently have access to this content.