平衡重块安装位置不准确，会造成起重臂与平衡臂平衡力矩偏差过大，轻易造成塔吊失稳。
Balance weight block installation position is not accurate, will cause the boom and the balance arm balance torque deviation is too large, easily lead to instability of the tower crane.
为了保证臂架式起重机的安全工作，必须安装能监测载重、幅度等影响起重机力矩因素的力矩保护器。
For the safe operation of jib cranes, load moment limiters need to be installed to monitor and control values of load and radius influencing the value of load moment.
本文提出了一种在时域上设计柔性机械臂开环控制力矩的逆动力学方法。
In this paper, the new inverse dynamics method, which designs the open-loop control torque for one-link flexible manipulator, is proposed.
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