Kinetic Characteristics Analysis of Hydraulic Boom of In-Cabin Palletizer Considering Working Condition Parameters

Abstract

To address collision risks and spatial limitations of hydraulic booms in in-cabin palletizers operating within confined cargo holds, this study proposes a safety framework integrating kinematic analysis and collision detection. The method constructs a kinematic model mapping hydraulic cylinder displacements to boom rotation angles, incorporating geometric constraints from cylinder parameters and boom cross-sectional dimensions. Forward/inverse kinematic solutions generate motion trajectories compliant with workspace boundaries. Obstacle geometric models embedded in the kinematic framework enable real-time collision detection and automatic safety braking during operation. Monte Carlo-based stochastic sampling quantifies the boom's reachable workspace in dynamic cargo stacking scenarios. Point-cloud distance field visualization reveals spatial relationships with obstacles, providing intuitive collision risk assessments. Experimental validation confirms the method's effectiveness in evaluating motion feasibility under complex loading conditions, offering theoretical support for scenario-specific system adaptation and environmental optimization. This research enhances in-cabin logistics automation reliability by addressing constrained-space motion planning and dynamic load compensation. The proposed approach ensures safe operation while improving workspace utilization compared to traditional methods.