Study On Design Principle And Dynamic Behavior Of Heavy-Load Forging Manipulator

Along with the development of large engineering machine manufacturingtechnology, the requirement of large forgings is larger, and the quality of forgings ishigher. Manipulator is the very significant and widely used equipment in forging linewhich directly affects the production efficiency. Presently, a majority of the hugemanipulators which are in active service in our country are imported from abroad;consequently the ability of independent design is needed to improve. In this situation,to analyze the design principle and to provide theoretical support is necessary. Themainly contributions of this research are listed as follows:①Based on the structure of DDS manipulator we analyze its working principle,to combine with force analysis and optimization algorithm, a design flow diagram isgiven. When the chucking power, clamping torque and operating space is known, thebasic size boom, connecting rod and fluid cylinder e.g. are worked out by calculation.②The kinematic and mechanical model is built. In this part, the reaction forcesof all the hinge point are calculated during enhancing process. Inverse kinematics andmechanical analysis are used to describe the forging process. This part discusses theinfluence of width and depth of forged piece to the reaction force.③The multi-body FEM technique is used to build the whole manipulator model,this whole model can describe the enhancing process of claw beam and lifting processof claw head. The stress and strain of every key component can be gotten in the wholeprocess which can help the design job.④Co-simulation technique is adopted to create mechanical-hydraulic controlsystem, which is more precise to describe the reality. Adams and Simulink are the keytools, data interaction made closed loop design to be feasible. This technique preventsthe error of equivalent mechanical model and provides convenience of choosingparameters of hydraulic component.According to these research mentioned above, It could provide guidance andtechnical support for design job.