Based On The Reaction Of Response Blind Area Overload Clamping Device Of Rigid Body Dynamics Modeling Study

At present, the level of design and manufacture in the forging manipulator of our country is improved along with the National Strategic project carried out all-around, but the gap is clear compared with the developed country. The friction of kinematic pairs affect the Mechanical system dynamics large, however, there is little study about the of revolute joint friction on Mechanical system dynamics according to existing reference, the critical solution to analyze and synthesize the mechanical system dynamics is unavailable referring to the classical Coulomb friction model which simplifying the effects of the fiction force to Mechanical system dynamics. So, with the theory analyzing computing method and simulating method, and experiment contrast, research on the uncertainty of counteracting forces and the incompleteness of classic dynamic model the mainly contents and conclusions include the followings:At the beginning the concept of the Response Dead Zone of counteracting force is presented in this paper, The influence of the response dead zone of counteracting force on the dynamic model of the heavy duty equipment forging manipulators is analyzed, and the cause of counter force variation is found, the dynamic models of the clamping force and the contact force between the jaws and the forging referring to the correlation constrain method; The reason for defected classic rigid dynamics is analyzed.Proposing the friction state table of the gripper in vertical position and horizontal position, judging the friction states of joint pairs according to the dynamic loading, making sure the joint is defined, which in the response dead zone of counteracting force; establishing the relevant constraint equations, which consists of the complete dynamic model with the rigid dynamics.Then, calculating the total reverse force of joints by the software of Matlab, especially the joint which in the response dead zone of counteracting force, make sure the magnitude of the joint and the distance from total reverse force to the joint center is defined. In order to validate the correctness of theory results, simulation of the joint pair has been performed based on ADAMS software, results show that both the theory results and simulation results are consistent basically.The experiment machine is developed independently in which there are three sensors in every joint, and every sensor is used to measure one force whose direction is along pin roll of joint diameter. In the end, the normal force can be calculated according to synthesis law of Plane collect force. Then the counter force of the joint is calculated.At last we use the forging manipulator which designed by our laboratory as a test-model and test the joints force by the experiment, the results shows that both the experiment results and the simulation results are consistent basically, proving the rationality and feasibility of the complete dynamic model of the heavy duty equipment forging manipulators, lays a foundation of the further applications of this optimizing method.