Study On Dynamical Characteresitics Of Large-Scale Parallel Link Type Forging Manipulator

A large scale forging manipulator is the main critical equipment in hydraulic forging press industry, and it is also the important operating equipment load in our country. It can also improve manufacturing capacity, accuracy of manufacture, productivity effect and stock utilization consumedly and reduces wasted energy if it coordinates with fabricating machinery. Mastering the central design and manufacture technology of the large scale forging manipulator is the urgent mission of heavy industries in China at present. Principal character of the large scale forging manipulator is great loading capacity, big inertia, multiple degrees of freedom, and manipulation with multidimensionalforce-displacement. It is difficult to design the large scale forging manipulator because of the complicated mechanism, kinematics and dynamics characteristics. This paper studys the mechanism theory, virtual prototype model of the forging manipulator established, the kinematics and dynamics characteristics of the main working system and so on. It has important engineering value and theory significance.In the paper, at the base of the studying status of the large-scale forging manipulator the dynamic characteristic research aim has been proposed according with the research duty of the enterprise. According to the structure form and the structure parameters of the parallel link type forging manipulator,3D models of the parallel link forging manipulator are established, firstly, parts of the forging manipulator are established with the software of Solidworks, then the virtual assembly prototype and inspect of the restraint and interference are carried on until the final modeling is successful. The3D modeling of the parallel-link forging manipulator is imported into ADAMS software in order to establish the virtual prototype model. Set up restraint and drive, kinematics simulations of the forging manipulator is carried on. Consequently, the workspaces of the forging manipulator under different operation conditions are obtained.Secondly, set up the load condition according to the actual demand. Dynamics simulations of the forging manipulator which moves and swings are carried on in details with the ADAMS software. Dynamics characteristics of two typical movements of the forging manipulator are analyzed.Because the jaw mechanism of the forging manipulator is one of the most important parts of the system, three dimensional solid model of forging manipulator jaw is established with the Solidworks software. Then, the3D CAD model is imported into ADAMS software. Consequently, virtual prototype model of the forging manipulator is established. As contact exists between vise jaw and forging, contact dynamics simulation must be done. As a result simulateion results are coincident with actual operation case more, and product characteristic is also grasped more accuratly. Through contact simulation analysis between vise jaw and forging in ADAMS, it can clearly understand dynamics characteristics of vise jaw.At last, clamp mechanism of the forging manipulateor which is small-scale and used in a enterprise is the research object. Dynamics simulation and test of clamp mechanism are carried on. The mechanism structure of the forging manipulator which moves up and down and swings up and down is simplified rationally. Consequently, the dynamics model is established. Dynamic equations of the mechanism are solved by Duhamel’s integral.