The Structure Optimization Design Of 2t/5t?m Forging Manipulators And Research On Virtual Simulation

Due to heavy-duty forging manipulators’ large motion inertia, highly complicated nonlinear dynamics, vibration and other issues, the design and manufacture of large forging manipulators become more and more difficult and complex. The national machinery industry is seriously constrained by the level of the forging manipulators’ design technique. In order to improve our ability of design and innovation this program will preliminarily develop a new type of 2t/5t?m forging manipulator prototype, and conduct a study on the structure design and some key technologies.The main contents of this thesis are listed as follows:(1) According to the actual demand of 2t/5t?m forging manipulators, the mechanism type was selected with the compared performances of several new parallel mechanisms of forging manipulators. And then based on the Screw Theory, the forging manipulator’s degrees and force characteristics were analyzed(2) Through the analysis of the clamps’ force characteristics, two kinds of forging clamp kinematic models are established, and the more suitable clamp modality is determined through specific numerical calculation. Then the clamp mechanism and the horizontal buffering mechanism of the 2t/5t?m forging manipulator were optimized by using genetic algorithms.(3) According to the 2t/5t?m forging manipulator’s technical parameters, some structure of the forging manipulator parts were designed systematically, including lifting devices, clamps, traveling driver system and the wall frame. Then with the multi-body dynamics’ simulation software ADAMS, a virtual prototype for the 2t/5t?m forging manipulator was built and the dynamic characteristics of forging manipulator were obtained in different motion plannings. Actual design requirements were also tested and this provided a basis for the selection of driving elements and optimal designs of components and parts.(4) According to the rigid dynamic model, the rigid-flexible coupling multi-body system for the 2t/5t?m forging manipulator was developed using the finite element analysis software ANSYS and ADAMS. Co MPared with the result of rigid dynamics’ simulation, the influences on the dynamic characteristics were obtained considering its flexible structure.