Mechanism Analysis On A Forging Manipulator And Its Virtual Prototyping

Heavy-duty forging manipulators are complicated parallel-series systems, the dynamic characteristic has great influences on its control efficiency. To design its controller calls for an efficient dynamic model.In this thesis a kinematic model for a 5-degree-of-freedom forging manipulator is built and its displacement direct solution, displacement inverse solution, velocity inverse solution and acceleration inverse solution are derived. Then the dynamic model is developed using the Newton-Euler method, after that its dynamic inverse solution is calculated.Based on the kinematic model the working space of the forging manipulator is calculated and the singularity configurations near the working space is analyzed, then the input-output relations of basic forging motions are studied.A schedule on the basic forging motions is put forward and input forces under the schedule are studied. Besides, the load change in the lengthen process is calculated and its influence on input forces is analyzed. Then the balance input forces in the whole working space is calculated as a reference for building the hydraulic system. After that the equivalent dynamic model of the forging manipulator is developed and the definition of equivalent mass that can be used to evaluate dynamic characteristic in the working space is brought forward.A virtual prototype for the forging manipulator is built using Pro/E and ADAMS and its dynamic characteristic is analyzed. The comparison between simulation results and theoretical results prove the validity of the theoretical model. Then a structural optimization is done based on the virtual prototype.A method to develop rigid-flexible coupling multi-body system is put forward. According to this method the rigid-flexible coupling multi-body system for the forging manipulator is developed using ADAMS and ABAQUS and the influence on the dynamic characteristic arose by flexible bodies is studied.