Mechanism Synthesis And Analysis Of The Large-scale Forging Manipulator

The large-scale forging manipulator belongs to the multi-degree-of-freedom heavy-duty robot. And it is a kind of important equipment in the forging process. Learn about thedesign and the development status of the large and heavy forging manipulator in thecountry. Then study mechanisms of forging manipulator in this paper. Research focuses ontype synthesis of the new mechanisms. Different kind of forging manipulator mechanismswill be proposed in order to lay the foundation of the large-scale and six degrees offreedom of forging equipment. Performance analysis will be carried out, and verifyvalidation of the new mechanism by using the simulation software, and its rationality willbe interpreted. The main research contents are as follows:Develop a new mechanism which is based on screw theory approach. And the newmechanisms are a variety of the hybrid serial-parallel forms. The mobility’s instantaneityof parallel mechanisms are analyzed, and then acquire the reasonable mechanisms.Analyze kinematics of the new forging manipulator, and study degree of freedom ofmechanism. The kinematics positive solution and inverse solution are solved, and theJacobian matrix is calculated. Use Matlab software to analyze its theory. Design and selectthe drive hydraulic cylinders on the basis of meeting the demands of forging manipulator’svarious working ability. The purpose is to simplify its drive control. Then establish thesimulation model of forging manipulator based on Adams simulation software. It canachieve kinematics simulation of the complete machine, and verify the correctness of thetheoretical analysis results.Analysis statics and dynamics of the new forging manipulator, and establish the forcemodel. The theoretical analysis is carried out by using Matlab software, and dynamicsimulation is completed with Adams simulation software. In the dynamic performancesimulation analysis of forging manipulator, analyze the driving forces of hydrauliccylinders for various changes under different conditions. The data of the driving forces ofhydraulic cylinders is studied, and the obtained data results can provide the basis for thespecification select of the lifting hydraulic cylinder, the pitching hydraulic cylinder and the buffering hydraulic cylinder.The scale optimization of this new forging manipulator is implemented by using theoptimization algorithms. Specifically, optimize the dimension of lifting mechanism, thedimension of pitching mechanism and the installation location point coordinate ofbuffering cylinder based on geometric constraints and decoupling indicators. It meets themoving ranges of the lift and pitching cylinders, and the stability of its lifting movement isenhanced after optimization. Several specific operation of the forging manipulator isdescribed during the forging process in the paper in order to determine the displacement ofthe clamp along the vertical direction, thereby avoiding the serious bend of forge pieces inthe forging process.