Font Size: a A A

The Kinematic & Inverse Dynamic Analysis Of Forging Manipulator

Posted on:2009-08-19Degree:MasterType:Thesis
Country:ChinaCandidate:H B WangFull Text:PDF
GTID:2251360242476523Subject:Vehicle Engineering
Abstract/Summary:PDF Full Text Request
The forging manipulator is a large free forging system’s key equipment, it is significant to improve the products of the free forge and enhance the workpiece’s forging quality. In spot the manipulator’s major technical movement is lifting and descending, leaning and rotating, and there is buffering when the workpiece is forged by the press. In order to plan the clamp’s trajectory based on the requirement of free forging’s technics,computer the kinematic results of the manipulator’s driving part and form the control scheme so it’s necessary to analyze the forging manipulator’s kinematics; with the workpiece’s extreme heavy weight and the large kinematic inertia of the manipulator’s part, so it is necessary to analyze the inverse dynamics of forging manipulator based on the clamp’s external force and trajectory. Solving the driving force and each rod’s constraint force is not only the control requirement but also the foundation for computing the intensity of the manipulator’s key part So the goal in this paper is that the kinematics models using the influence coefficient and the inverse dynamics model are established based on the dynamic static method according to the manipulator’s forging technics planning the clamp’s trajectory and its mechanism and sizes, then the manipulator’s kinematics and dynamics are analyzed and it lays a foundation for the system control and the analysis of the component’s intensity.Firstly, the forging manipulator and the manipulator’s technic movement such as lifting_descending, leaning and buffering are introduced, then planning the clamp’s kinematic trajectory provides evidence for the kinematic and dynamical models.Secondly,analyse the real forging manipulator’s its mechanism and according to the kinematic relations the manipulator’s forward and inverse kinematic models using the influence coefficient method are established to obtain their jacobian matrices. The solution of the forward kinematics is that the kinematics of the manipulator’s clamp is obtained from the hydraulic cylinder’velocity input; the solution of the inverse kinematics is that the velocity of the hydraulics cylinder is obtained from the planning kinematics of the manipulator’s clamp.Thirdly, the inverse dynamic model of the manipulator is established based on the dynamic_static method. Through the inverse dynamic model ,the constraint and driving forces of the manipulator’s kinematic pair is got from its clamp’s kinematics and external load and it provides evidence for the driving force control from the manipulator’s hydraulic system and the check for its intensity.Finally , under the platform Matlab/Simulink programmers are constructed and the working condition of the DDS 750 forging manipulator for the lifting_descending, leaning at the bao steel are simulated to analyze its request to the driving kinematics, the driving forces and the rods’forces, it provides foundation for the simulating platform construction of the forging manipulator.
Keywords/Search Tags:free forging, manipulator, kinematics, inverse dynamics
PDF Full Text Request
Related items