| Forging manipulator is one of the important equipments for the modern forgingautomation. By using the forging manipulator, production efficiency and quality of theheavy forged piece can be greatly improved. Its major motions, including raising andlowering, back/forth and pitch, can carry out the main forging process with clamp rotating.Based on a new type large-scale forging manipulator,kinematics、dynamics and sizeoptimization are used to solve its performance.The main research contents are as follows:Research and analysis kinematics of the new type large-scale forging manipulator、degrees of freedom of mechanism,calculation positive and negative solution of position、Jacobin matrix. and the relationship between actuator inputs and outputs of end effectors isdiscussed. Make the right conclusion though Matlab operation simulation and Adamsmotion simulation verification.Research and analysis statics and dynamics of the new type large-scale forgingmanipulator. Models of relationship between actuator forces and loads are established.Force values of drive cylinders are derived for different technological movements offorging manipulators, which provide theoretical foundation for the design of hydrauliccylinders. Make the right conclusion though Matlab operation simulation and Adamsmotion simulation verification.A new approach for establishing parameterization model of the parallel mechanismbased on Adams software is referenced. This modeling method is simple, fast and versatile,which can realize kinematic simulation and dimensional optimization analysis of theparallel mechanism quickly. And then, parametric model of the main motion mechanismof a new forging manipulator is established by using the new approach, dimensionaloptimization of the mechanism is carried out.Experimental model with the ratio1/20of a new forging manipulator is developed,and experimental study on completing various forging operation action and the decouplingof movement is performed. |
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