Based On Graph Theory, Heavy-duty Holding Device Configuration Is Optimized

In recent years, the researches and processes in mechanical structures has played an important role in promoting the development of the mechanism. Using graph theory as a tool to study the kinematic chain structure makes the analysis process become concise and clear. As the main task in the study of mechanism, the innovation of mechanical design aims to raise an original structure type as to meet the intended functional requirements, and it also needs to be imitative with excellent working capabilities.Due to the existing particularities when heavy clamping device works and its important role in the forging manipulator, the clamp is required to keep the stability when huge clamping device works. So it's urgent and important to analyze the capability and stability of the heavy loading grippers and innovate new ones with higher capabilities. In the dissertation, the mainly contents and conclusions include the followings: At first, this dissertation uses a typical manipulator gripping device as a basic form for innovation and considers the gripper and forging pieces as a whole part to analyze its topology structure. In the purpose of improving the capability of clamping devices, this dissertation has presented a method to reduce the freedom of the clamping by changing the elements in the topological diagram.This article then uses the topology adjacency matrix to establish unified mechanical model of the clamping device. The influence over the capability has been brought by the new models is illustrated in the dissertation. Then the capability of different clamping devices is calculated.At last, the dissertation uses ADAMS to model and simulate the performances of different clamping devices, the results are in accord with the analysis. A experiment is made to compare the performances, it shows that the optimized device can enhance the capability to a much higher level when the clamp is in the vertical position, and lays a foundation of the further applications of this optimizing method.