The Dynamic Simulation Research On Forging Manipulator Based On Virtual Prototype Technology

Forging manipulator, the major ancillary equipment in hydraulic forging process, is regarded as national key equipment. A forging manipulator is mostly with large load, great inertia and many degrees of freedom. Its ability of manipulation with multidimensional force-displacement and cooperating with other machining equipments makes that the forging manipulator is much powerful in improving manufacturing ability, higher precision, efficiency production, and saving material, reducing energy consume, and so on. It is difficult for practical forging manipulator to carry out performance testing. Therefore, this paper based on software platform such as SolidWorks and ADAMS establishes digital 3-D virtual prototype of forging manipulator, carries out systemic multi-body system kinematics and dynamics simulation analysis. We realize the simulation analysis for forging manipulator on different conditions, including rigid condition and rigid-flexible mixed condition, and gain relevant simulation analysis data, which provides an efficient method for dynamic analysis and design of forging manipulator. The main research contents of this thesis are listed as follows.(1) This thesis introduces the researching background and significance of forging manipulator, the academic development of the virtual prototyping technology and the structure of ADAMS software, which is computer application platform of the virtual prototyping technology, and then summarizes the basic theory of the ADAMS multi-body system kinematics.(2) According to the real structure of forging manipulator, this paper simplifies the physical model to adapt the dynamics simulation, establishes the 3-D models of every part and their assembly on software Solidworks, and then imports it into software ADAMS by Parasolid standard, which can reduce the data loss during the file transfer process.(3) Carry out kinematics and dynamics simulation analysis for forging manipulator by means of ADAMS/View block, simulate different conditions, including up and down translation motion and up and down swing motion. Measure the displacement, velocity and acceleration of the jaw bar, and the angle of jaw bar relative to horizontal direction. Simulation anti-force according to hydraulic cylinders which move up-and-down and swing up-and-down,connecting links between former arms and later arms and connectors between later arms and the claw beam.(4) Translate connecting links and connectors of the into flexible part respectively by means of ADAMS/Auto Flex block, carry out kinematics and dynamics simulation analysis on the condition of up and down translation motion. At last, compare the result of simulation with that of the rigid body.What have mentioned above provides the foundation for simulation design study of forging manipulator, provides technique support for the creative design and optimization of forging manipulator, and plays an important part in expediting the development cycle and reducing the cost.