Type Design And Performance Reserach On Heavy-Payload Forging Manipulator

Forging manipulator is not an ordinary industrial robot and always works in very harsh environment. It can clamp hundreds of tons of work pieces and finish the open-die forging with press. Heavy-payload forging manipulator has characteristics of mult-degree of freedom with high coupling the capacity of complex control with displacement and orientation, large payload and high stiffness. The structural features and kinematic plans of the forging manipulator play an important role in the quality of automatic linkage control. This work focuses on the mechanism design and dynamatic analysis of heavy-payload forging manipulator system. These key technologies include the type design based on reducible performance and the corresponding isomorphism identification, kinematic modeling and analysis of newly designed forging manipulator, dynamic parameters identification and calibration, buffering optimization and simulation in starting and braking. This dissertation's main work can be concluded as:(1) The type theory based on work requirements for muit-degree of freedom and heavy-payload manipulators is studied. The concept of reducible performance is defined and investigated from the view of the incidence relationship between outputs and inputs. The incidence relationship between outputs and inputs of heavy-payload forging manipulator is obtained, the type design is divided into three parts after detailed understanding of the functional properties, and the design flow is given. Several new types of mechanisms for heavy-payload forging manipulator are classified and corresponding spatial mechanism diagrams are proposed.2 The theoretic basis of eigen system approach is studied and practical applications are discussed. A new matrix is proposed which contains at least one distinct eigen value based on the incidence relationship matrix, and the Eigen system approach is used to identify the isomorphism of new matrices. Examples are given by using the proposed matrices and the Eigen system approach is used to identify the isomorphism of reducible performance for heavy-payload manipulators.3 A new-type serial-parallel forging manipulator is presented, and the closed form kinematic solutions are derived. Based on the length of test prototype, the different position and orientation are simulated, and the analytic algorithm for the computation of Jacobian matrix is also presented. All those lead to the establishment of the mathematic model of the forging manipulator.(4) The model of dynamatic parameters identification and calibration is given. The transformation matrix for link's inertia, length, known forces and unknown forces is obtained after detailed kinematic and force analysis of test prototype. Test data collection and processing are done in test prototype, comparison diagram of theory and test data are drawn, and error analysis is given.(5) The model of motion coordination and buffering design for forging manipulator is built. The optimal curves in starting and braking and buffering design are presented, and the corresponding process and simulation are also investigated.