Optimization And Parameterization Design Of The Forging Manipulator’s Gripper

The forging manipulator’s developing level is a significant factor thataffects the development of the heavy equipment manufacturing industry.And as an important component, the design of the gripper mechanismdirectly influences the entire manipulator properties. Facing the quickdevelopment of the heavy industry, the load capacity as well as the stabilityof the gripper needs to be improved. Also, parameterization is an importantpart of mechanical design, throughtheparameterizationofthemanipulator’sgripper, engineers would be liberated from tedious, mass duplicatedmodeling jobs, so as to put more energy into the further research such asinterference checking, finite element analysis and motion simulation etc.This paper takes some research on the forging manipulator’s gripper,which’s pull-rod type. Based on such mechanism, optimization design wasmade and the parameterization modelling system was built up. The mainresearch contents and achievements are as the following:1. Analysis of the kinematics and mechanics model for the gripper.Based on the given gripper mechanism, the kinematics and mechanicsmodel was built up. By the kinematics positive and reverse solution, staticsmodel solution, dynamics model solution, clamping force analysis and pinroll size calculation, it provides a foundation for the setup of the gripper’soptimization model and the follow-up hydraulic driving force control study.2. Optimization design for the manipulator’s gripper.The optimization model for the clamping mechanism was established.Defining the driving coefficient which stands for the transmission efficiencyof the force, then optimization design was made aimed a higher force transmission efficiency using genetic algorithm, meanwhile consideringconstrains caused by the transmission angle and the structure interference.Furthermore, two-level optimizing method was brought up which utilizesthe genetic algorithm as the first level and traversal algorithm as the second,in order to acquire a result which’s closer to the optimal.3. Simulation and verification for the gripper of6t/15t m manipulatorFirstly, kinematics and mechanics model was analyzed for both the oldand the new gripper models of6t/15t m type manipulator in MATLAB.Then comparison was made between the two models through perspectivesof the motion space, transmission angle, driving coefficient, force analysis.At last, kinematics, statics and real operation simulation were conducted inADAMS. The simulation results could be compared with the programinganalysis and verify the accuracy of the calculation.4. Establishment of the parameterization modelling system for theforging manipulator’s gripperIn order to realize the parameterization design, the components featureswere studied based on the models built up in UG; then relevance calculationwas made in order to get the parameter relationship between the designingvariants and the feature parameters; ultimately, on the platform of UG, thesecondary-development was made using C++and C#language to realize theparameterization design of the manipulator’s gripper. Though thesecondary-development using UG/OPEN API and Visual Studio2010, thecustomized menu was designed, and the parameterization modelling systemwas established which could realize the model optimizing, parametersdriving as well as model updating.