The Dynamic Analysis Of Forging Manipulator And The Design Of The Virtual Prototype

With the upgrading of equipment manufacturing level, large forgings manufacturingindustry has been developed rapidly, especially with the operation of forging manipulator,the forging capacity and production efficiency have been improved greatly.At present,China has achieved independent design and manufacturing for the ton class free forgingpress, but there is a big gap on the research of large-scale forging manipulator comparedwith developed countries. Although China has made an intensive study of forgingmanipulator, most of the research is for classic foreign mechanism, only few is for newmechanism, which seriously exacerbated the dependence on foreign technology. So thispaper, through analysis and comparison of four models, finally selected a new mechanismto conduct a further study.This paper firstly stated the working principle of four main mechanism of forgingmanipulator, solved the parameters of the four mechanism, by using Newton’s classicalmechanics analysed the static force of every link of four mechanism, and then obtain themathematical model of static. Solved it by MATLAB software, analysed the resultsconcretely, and finally selected the main mechanism of the new lever-swing forgingmanipulator to conduct a further study.Found out the velocity and acceleration of the new mechanism, by usingNewton-Euler method analysed its dynamic, and finally obtain the mathematical model ofdynamic, and completed the motion planning. Solved the mathematical model ByMATLAB software, obtained the changing law of the driving forces, and analysed itconcretely.Based on SolidWorks software completed the three-dimensional solid modeling foreach part and assembly of entire machine, finally got on the operation of thethree-dimensional solid model. Imported the model into ADAMS software, addedconstraints, forces/torque and drives, and then completed the modeling of virtualprototype.Conducted statics simulation and dynamics simulation of forging manipulator based on ADAMS virtual prototype, completed the simulation modeling by software, studied thesimulation the state of three motions, by comparison with the results and analysis, finallyproved the accuracy of the statics and dynamics mathematical models.