시간 이력 기반 ZMP–오일러 앵글 결합 수치해석 모델을 이용한 크롤러 크레인의 전도 안정성 평가 = Time-Varying ZMP–Euler Coupled Numerical Analysis Model for Overturning Stability Evaluation of a Crawler Crane

다국어 초록 (Multilingual Abstract)

This study examines the dynamic overturning stability of a 150-ton crawler crane using a ZMP–Euler coupled model. The algorithm combines Zero Moment Point (ZMP) theory with Euler angle transformations to assess stability during simultaneous luffing and slewing motions. Utilizing three-dimensional design data, a MATLAB-based numerical analysis was conducted to calculate time-varying ZMP trajectories and a normalized Stability Index (SI), which indicates the distance from the track boundary. The simulation results demonstrated that the crane maintained stable conditions under 60% and 80% of its rated load, while marginal stability was observed at the full-rated 150-ton capacity due to a forward shift in ZMP during slewing. Additionally, the developed approach effectively visualized the dynamic stability transition over time, providing valuable insights into how combined pitch and yaw motions affect the overall stability margin. This method quantitatively evaluates ZMP migration and offers practical guidance for ensuring safe operation and optimizing structural balance in large crawler cranes.