Kinematics Dynamic Simulation And Mechanical Analysis Of The Main-motionmechanism Of A New Type Forging Manipulator

Large castings and forgings is an important foundation and key bottlenecks of China’s major equipment manufacturing industry. Forging manipulator is one of the basic equipment manufacturing forgings precisely, complete forging process coordinated with forging machine by holding forging, and is an important equipment of forging mechanization and automation. In recent years, the domestic and foreign forging workshop widely used the gang control of forging manipulator and the free forging hydraulic press to achieve mechanized performance, forming large forging free forging automation systems, significantly improving product quality and labor productivity. In this paper. Automation of free forging system of large forgings can significantly improve product quality and labor productivity. Taking the actual production process of forging manipulator into account, automatic statics analysis and kinematic simulation of the main-motion mechanism of forging manipulator are studied.First, the computer automatic statics analysis method of the main-motion mechanism of forging manipulator is proposed. In this method, you only need inputting the structure and load information, and the computer will solve mechanism’s all links’ force. Then,statics analysis of these mechanisms of forging manipulator was conducted by using this method. As a result,a better mechanism was chosen.Based on MATLAB, an automatic statics analysis software was written for three kinds of main-motion mechanism of forging manipulator. This software can complete each hinge point statics analysis of the different positions of three main movements and under different load. Draw the diagram of axial force, shearing force and bending moment diagram by automatically.Secondly, based on the composite modeling and the minimum module ideology, the simulation model building method of the main-motion mechanism of forging manipulator is proposed, and dynamic simulation of a new three degrees of freedom forging manipulator main motions mechanism is constructed, and the relationship between drive cylinder inputs and outputs of end effectors is discussed.Final, under trapezoidal and sinusoidal velocity curve motion planning, the Lagrange method is used to solve the driving force of a new forging manipulator’s main-motion mechanism, to obtain the driving force curves under two different planning through simulation, and analyze the pros and cons of the two plans.