Telescopic Boom

A. Force Balance
The aim is to find at which position, the telescopic boom would experience
the maximum force during extending or retracting. As a part of analysis,
following cases are considered by force balance method:
1. Case 1:

< 110o

Fig1: Telescopic boom at extending position with

< 110o

From fig1 and by using force balance method, following equation are
acquired:

( )
( )+ F L 3(W boom + F y )s
( m pannier +mboom + m R 1 +moperator ) a=( F x + F wind , boom ) cos
Where:

m pannier is mass of pannier from catia

mboom is mass of telescopic boom from catia
mR 1 is mass of chosen actuator R1 from previous part
moperator is mass of 2 operators on pannier from previous part
Fx and Fy are resultant force on pannier
FL3 is the force from the actuator L3
Fwind,boom is the calculated force from the wind acting on the
telescopic boom by:

F wind ,boom =Wind Pressure Area of telescopic boom

According to BS 7171:1989 4.1(b), the maximum speed of the telescopic
boom extending or retracting is 0.43m/s. Assuming it takes 1 second to
achieve maximum speed, we can assume the acceleration is 0.43m/s2.
From above equation, FL3 can be calculated by rearrange with the range of
0< <110 and 0<<11 0
For retracting case, the calculated force would result as negative value of
extending case. As we only need to find the modulus maximum force,
retracting case is not required.
2. Case 2:

110< <180

Fig2: Telescopic boom at extending position with

110< <180

From fig2 and by using force balance method, following equation are
acquired:

( m pannier +mboom + m R 1 +moperator ) a=

( + 90)
( + 90)+ F L 3+(W boom + F y ) cos
( F x + F wind ,boom ) sin
From above equation, FL3 can be calculated by rearrange with the range of
11 0< <1 8 0 and 0<<110
For retracting case, the calculated force would result as negative value of
extending case. As we only need to find the modulus maximum force,
retracting case is not required.

3. Case 3:

180< <270

Fig3: Telescopic boom at extending position with

180< <270

From fig3 and by using force balance method, following equation are
acquired:

( m pannier +mboom + m R 1 +moperator ) a=

( +18 0)
( +18 0)+ F L3 +(W boom + F y ) sin
( F x + F wind , boom ) cos
From above equation, FL3 can be calculated by rearrange with the range of
180< <27 0 and 0<<110
For retracting case, the calculated force would result as negative value of
extending case. As we only need to find the modulus maximum force,
retracting case is not required.

B. RESULTS AND ACTUATOR SELECTION

Alpha(degree)

Theta(degree)

CASE 1
10
110
CASE 2
110
10
CASE 3
270
10
Table 1: Calculated maximum force for each case

Maximum
Force(N)
43281
38891
43281

L3 Linear actuator selection

Using safety factor of 1.5, the design maximum force is:

Design Maximum Force=43281 1.5=64921.5 N