The Mechanism And Performance Analysis Of A Completely Decoupled Forging Manipulator

As one of the important equipments for the modern forging system, forging manipulator is used for gripping large forgings to cooperate with forging press. By using the forging manipulator, production efficiency and quality of the heavy forged piece can be greatly improved. The research and development have reached the advanced level abroad, however, we should dependent on imports the technology and products. So it seems to be of great significance for owning independent researche and technology of forging manipulators.Firstly, this paper introduces a completely decoupled forging manipulator mechanism, it is based on the linear output characteristics of Hoekens nearly linear output four-bar linkages mechanism, then put it directly in horizontal buffering mechanism of forging manipulator, so it can realize the decoupling of lifting and horizontal movement when the manipulator do lifting movement. We used the screw theory to analyze the degree of freedom(DOF) of the completely decoupled forging manipulator mechanism; the model of positive and negative position solution of the mechanism is established in three different working conditions. Then the position and velocity analysis are carried out respectively based on three different forging processes. Obtain its Jacobian matrix in preparation for the dynamic solution.Secondly, based on the engineering practice, analysis its statics and dynamics in lifting, pitch movement and forging stages. The static equilibrium equations for different forging processes of forging manipulator are studied based on Newton-Euripides method. Then based on the velocity analysis, the angular acceleration of each link’s attitude angle is obtained. The dynamic model is established by principle of virtual work. The force of each hydrauli cylinder and joint are achiecved by solving the equations above and compared with a typical DDS forging manipulator, to prepare for the optimal design of the structure.Finally, experimental model with ratio 1/20 of a new forging manipulator is developed and build a motor control system to verification the decoupling of the completely decoupled forging manipulator mechanism.