Flexible Multibody System Model of a Spider Crane with two Extendable Booms

A flexible multibody system model for a large-scale spider crane manipulator with five actuated joints is derived. The model is based on the Euler-Lagrange formalism and the assumption of the boom segments as Euler-Bernoulli beams. The swaying behavior of the manipulator model is verified for various robot poses that represent typical working configurations using precise absolute position measurements of the spider crane tool center point.