Kinematic Analysis And Machine Design Of Forging Manipulator

The forging manipulator is the main matching equipment in the forging pressindustry, and it is also important mechanical equipment in our country, and it issignificant to improve the products of the free forge and enhance the work piece’s forgingquality. In spot the manipulator’s major technical movement is lifting and descending,leaning and rotating, and there is buffering when the work piece is forged by the press.Taking the practical requirements of the forging process into account, several key issueson the forging manipulator kinematics modeling and performance analysis are studied.The main contributions are as follows.(1)Three types of major-motion mechanisms for forging manipulators are presented,including one novel mechanism and two commonly used mechanisms. The nonlinearclosed form kinematic models are established and studied and the relationship betweenactuator inputs and outputs of end effectors is discussed.(2)The decouple characteristics of the three major-motion mechanisms studied basedon the Jacobin of forging manipulators. The characteristics of three types of mechanismsshow that only novel mechanism is partially coupled, while the others are completelycoupled.(3)The performance of the novel major-motion mechanism is studied, and thekinematics model of pendulum move mechanism is established. The analyses of thespatial location are carried out.(4)The design principle of the new forging manipulator is studied. When thechucking power, clamping torque and operating space is known, the size parameters ofprimary member are gained through the force analysis. Some bodies are optimizedaccording to kinematics target. The solid modeling is obtained by Solid works.(5)Carry out kinematics simulation analysis for the novel forging manipulator bymeans of ADAMS/View block; simulate different conditions, including lifting, buffer,elevation, lateral movement and sway. The simulation results are compared withtheoretical calculations.