ATZoffhighway worldwide

, Volume 11, Issue 3, pp 44–49 | Cite as

Control Stabilization of Multilink Manipulators in a Truck-mounted Concrete Boom Pump

  • Sophie Zorn
  • Frank Will
  • Peter Mögle
Research Mobile Hydraulics

Truck-mounted concrete boom pumps are now used on all large construction sites. The fresh concrete is pumped through a feed pipe fitted to a boom of up to 70 m in length before being released through a wire-reinforced end placing hose. Due to their lightweight engineering and discontinuous conveyance principle based on the use of a two-piston pump, concrete boom pumps exhibit a tendency to vibrate that can both endanger the operator of the end placing hose and expose components to high levels of loading. Enhanced boom stability therefore needs to be achieved while retaining the benefits of modern lightweight engineering. It was against this backdrop that a boom simulation model which factors in relative motion and steel deformation in individual boom segments as well as the behavior of the respective hydraulic cylinders was developed at the Endowed Chair of Construction Machinery at Technische Universität Dresden.

1 Motivation

The task of a concrete boom pump is to convey fresh...



This research project was made possible and financed by Putzmeister Engineering GmbH. The authors would like to extend their thanks to the company for its support and helpful cooperation.


  1. [1]
    Näther, M.; Nerella, V. N.; Krause, M.; Kunze, G.; Mechtcherine, V.; Schach, R.: Beton-3D-Druck — Machbarkeitsuntersuchungen zu kontinuierlichen und schalungsfreien Bauverfahren durch 3D-Formung von Frischbeton. Fraunhofer IRB Verlag, final report, 2017Google Scholar
  2. [2]
    Zorn, S.: Modellbasierte aktive Schwingungstilgung eines Multilink-Großraummanipulators. Dresden, Technische Universität, dissertation, 2017Google Scholar
  3. [3]
    Schwertassek, R.; Wallrapp, O.: Dynamik flexibler Mehrkörpersysteme. Braunschweig/Wiesbaden: Vieweg, 1999CrossRefGoogle Scholar
  4. [4]
    Wallrapp, O.: Standardization of Flexible Body Modeling in Multibody System Codes, Part I: Definition of Standard Input Data. In: Mechanics of Structures and Machines 22 (1994), No. 3, pp. 283–304MathSciNetCrossRefGoogle Scholar
  5. [5]
    Topometric GmbH: Welchen Nutzen eine optische Bewegungsanalyse hat — Simulation des Bauteilverhaltens. In: QZ 60 (2015), No. 4, pp. 62–63Google Scholar
  6. [6]
    Slotine, J.-J. E.; Li, W.: Applied nonlinear control. Prentice Hall (1991)zbMATHGoogle Scholar
  7. [7]
    Li, G.; Khajepour, A.: Robust control of a hydraulically driven flexible arm using backstepping technique. In: Journal of Sound and Vibration 280 (2005), No. 3–5, pp. 759–775MathSciNetCrossRefGoogle Scholar

Copyright information

© Springer Fachmedien Wiesbaden GmbH 2018

Authors and Affiliations

  • Sophie Zorn
    • 1
  • Frank Will
    • 1
  • Peter Mögle
    • 2
  1. 1.Technische Universität DresdenDresdenGermany
  2. 2.Putzmeister Engineering GmbHAichtalGermany

Personalised recommendations