Grasping Force Moment Online Measurement of Hydraulic Grab Based on Photogrammetry

Hydraulic grab is specialized equipment for cargo lifting and excavation, and the grasping force reflects the performance of the grab. Suffering from the complex work condition, it is difficult to monitor the force condition in the oriented-industrial current environment. This paper proposes a novel method to measure the grasping force moment by photogrammetric trajectory tracking, hydraulic pressure sensing and real-time calculation based on force moment equilibrium. This method provides a new way for optimal design, performance evaluation and safety monitoring of the hydraulic grab.