Configuration And Decoupling Analysis Of Forging Manipulator

Forging manipulator is a spatial parallel manipulator. In the process of designing forging manipulator, the first problem that needs to be solved is type synthesisThe type synthesis tasks was divided according to the characteristics of forging manipulator’s end movement and the output correlation, and taken the single ordered opened chain as a design objective, the Structure synthesis of the main motion mechanism was done. branch type and branch combination scheme and branch configuration was confirmed by the freedoms of mechanism and the matrix of output characteristics and the rank distribution of basic loop, then the three group characteristic was integated based on the whole system and the extreme service environment of forging manipulator. finally, many kinds of manipulator’s complete configurations was integrated.The input and output relational characteristics and control decoupling of all mechanisms were studied. the result shows that some new configurations is superior to the typical configurations for the control decoupling.The Jacobian matrix is given by Screw Theory, based on the Jacobian matrix and robotics, the motor dexterity,the dynamic dexterity and the force bearing performance of the manipulator were constructed. based on the digital virtual simulation platform, each performance index is calculated by Matlab.The input-output relationship model of main motion mechanism is established when the end of the manipulator in advance, lifting and pitch, and analyzed its decoupling performance of different configuration, the analysis and expeiments of decoupling were done. the results showed that, the manipulator is decoupling when its end in advance and pitch, but the manipulator is coupling when its end in lifting.Overall, this paper carried out an effective exploration on topology innovation and evaluation of forging manipulator.