Dynamic Analysis And Structural Optimization Research Of A Novel Forging Manipulator

Forging manipulator as forging equipment automation,one of the equipment is also essential to the processing of heavy forgings,which can clamp and adjust the position at the same time with complete forging press forging process,which belongs to the special industry of multi DOF robot,it improves the efficiency of the forging cost savings,improve the quality of forging.At present,our country has carried on the quite thorough research to the forging manipulator,but because starts late,lacks the independent intellectual property rights the practical model,mostly also depends on the import.The performance analysis and mechanism optimization of a new type forging manipulator with post straight line driver is studied in this paper.The kinematics model of the main moving mechanism of the new forging machine is established by using the vector closed loop.The positive solution and the inverse solution of the kinematics are obtained,and the motion planning is carried out to enhance the movement,the pitching motion and the buffer movement.According to the Newton-Euler method,the dynamic model of the main motion mechanism is established,and the initial parameters of the structure are given with reference to the large-scale operation machine of the same level.The kinematics and dynamics are given The solution of the driving force of the hydraulic cylinder is obtained.In the software of RecurDyn,the parametric model of the main motion mechanism is established,and the sensitivity analysis of the optimization variables is carried out by using the AutoDesign function.The lifting error,the driving force and the load capacity of the hinge are optimized.Which reduces the horizontal displacement of the clamp when lifting the movement,and optimizes the dynamic performance of the driving force and the hinge force of the frame.Finally,the three-dimensional model is reconstructed with the optimized parameters.The stress,strain and displacement of the static equilibrium state model during overloading are analyzed by Solidthinking.The stiffness of the stiffened ribs is improved by the addition of the stiffened ribs,and the stress and stiffness conditions to reduce the weight of the front lift arm and rear lift arm to improve the performance of the machine.