| Forging manipulators are essential forging auxiliary equipment in modern forgingworkshop widely used for gripping large workpiece to cooperate with forging press.，which provide a large device support for the manufacture of large scale，high precisionand high technical content workpiece. The key to realize national independentinnovation capacity in heavy equipment industry is to achieve the innovation andoptimization of forging manipulators’ configuration.Firstly，this paper introduces the components of a novel forging manipulator withlateral hydraulic cylinder located in the bottom, whose forging actions and DOF arecarefully described. Furthermore, the working process in grasping and forging stages andthe tasks of a manipulator should achieve in the above stages are analyzed indetail.Secondly, the motion curve of top anvil on forging press and gripper are described.The position analysis and solution of the Jacobi matrix of forging manipulator are carriedout respectively based on two different forging processes. The Hessian matrixes areobtained based on Influence coefficient method, which lays a foundation for solving theacceleration of the forging manipulator.Thirdly, the equations of two crank’s balance moment for two different forgingprocesses of forging manipulator are studied considering the mass of links based onNewton-Euripides method. The force of each hydraulic cylinder and joint are achieved bysolving the equations above, which makes preparations for the subsequent strength designand optimization analysis. Newton Euler method is selected as the dynamics modelingtool due to its advantage of Clear physical meaning and calculating internal forces ofjoints diredtly.At last, the method proposed by our group is adopted to build a parametric model ofthe new forging manipulator in Adams to do co-simulation in Matlab in order to verify thecorrectness of the above model.Besides, the kinematics and dynamics performance offorging manipulator is analyzed. |
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