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Background The paper presents vibration analysis of dynamic models of systems with flexible mechanical components, friction modeled and subjected to position and kinematic programmed constraints, which can be imposed as control goals, work or service task demands. Methods The constrained dynamics is derived using an automated computational procedure dedicated to constrained systems. The procedure was successfully implemented to rigid system models. A class of systems composed of flexible parts and subjected to programmed motions is considered in the paper. Their motion analysis has to be accompanied by vibration inspection. The novelty of the presented approach is in the possibility of analyzing system motions and vibrations that can be induced by the presence of programmed constraints. Conclusions The constrained motion is examined by the example of a crane model equipped with a flexible link, e.g. a jib, friction modeled in its joints and subjected to programmed constraints. The example delivers a realistic work situation, in which the crane carries loads and moves according to the programmed constraint put on motion.

Analysis of Influence of a Crane Flexible Supports, Link Flexibility, and Joint Friction on Vibration Associated with Programmed Motion Execution