Dynamic Analysis And Parametric Research On Virtual Prototype Of New Forging Manipulators

Large castings and forgings is an important foundation and key bottlenecks of China’s major equipment manufacturing industry. Forging manipulator is one of the basic equipment manufacturing forgings precisely, complete forging process coordinated with forging machine by holding forging, and is an important equipment of forging mechanization and automation. At present, China has achieved independent design and manufacturing for the ton class free forging press, but there is a big gap on the research of large-scale forging manipulator compared with developed countries. Although China has made an intensive study of forging manipulator, most of the research is for classic foreign mechanism, only few is for new mechanism, which seriously exacerbated the dependence on foreign technology. Therefore, in this paper based on a new mechanism of forging manipulator, the mathematical model of kinematic、 dynamics and parametric virtual prototype was built and analyzed.Firstly, the kinematics and dynamics mathematical model of the main movement mechanism of the new type forging manipulator is established. On the condition of giving one group of relative data, the kinematic and dynamics was solved. The curves of the positive and negative solution position of the main mechanism and the driving force curves of three groups of hydraulic cylinder were drawn and some relative analysis was done.Then, three-dimensional model of the forging manipulator which was established by modeling software was imported into ADAMS software and then the virtual prototype of the new forging manipulator was built. The kinematics and dynamics simulation analysis is carried out,and the compared with the theoretical solution was analyzed.Finally, based on the function of parametric modeling in ADAMS software, the parametric virtual prototype of the new type forging manipulator was built. Regarding the value of lifting error minimum as the optimization objective, the positon of some joints were analyzed based on the function of parametric analysis in ADAMS software, and the compared with previous data in value of the objective and the driving force of lifting cylinder was analyzed.