Dynamic Analysis And Research Of Driving Performance Of Linear Lifting Forging Manipulator

With the development of China’s equipment manufacturing industry, the demand and quality for large castings and forgings is improving. Forging operation as one of the basic equipment of producing large forgings, combining with other forging equipment completing forging process, it is an important equipment to improve the efficiency and forging quality. Currently, our country has made an intensive study of forging manipulator, but there is still a big gap on the research of forging manipulator compared with developed countries, especially in terms of large-scale forging operation, lack of key technologies, most of forging manipulators are rely on imported. Consider the actual process of forging, dynamic analysis and optimization of mechanical properties on a proprietary forging operation are studied. The main contents of this thesis are listed as follows.(1) Described the structure of the Linear Lifting forging manipulator briefly. Made the dynamic mathematical model of its main movement mechanism by using Newton-Euler method, solved its inverse position, inverse velocity and inverse acceleration, binding trajectory planning, solved dynamics problem by MATLAB software, get the driving force of each hydraulic cylinder in different movement.(2) Created the virtual prototype of the Linear Lifting forging manipulator by ADAMS software, completed the dynamic simulation, got driving force of each hydraulic cylinder, and compared with the theoretical values.(3) Based on dynamic mathematical model, in order to optimize the driving force of the hydraulic cylinder, analyzed the optimization variables and constraints, using MATLAB genetic algorithm toolbox to optimize the driving force of forging manipulator, then compared with the driving force before optimization.(4) Based on the finite element model of forging manipulator, analyzed the deformation and stress distribution under load and boundary conditions. According to the rigid dynamic model, the rigid-flexible coupling multi-body system for forging manipulator was created using ANSYS and ADAMS, compare with the result of rigid dynamics’ simulation, obtained the influence of flexible rods to machine performance of forging operation.