Analysis Of The Influence Of Braking Condition On The Suspension System Of Heavy Duty Forging Manipulator

Heavy-duty forging manipulator is one of the important auxiliary devices for forging mechanization and automation in manufacturing industry chain,a special kind of industrial robot highly integrated with machine,electricity and liquid,used to clamp the forging and cooperate with the forging press to complete the various forging craftwork movements.The suspension system of heavy-duty forging manipulator is the key component that connects the running gear and clamping equipment of the manipulator and influences the walking control precision of the manipulator.Its main structure form includes swing lever-manipulator and the parallel link-manipulator.When the clamping bar is under load,it will result in that the inertial impact produced under braking condition affects the working precision of manipulator seriously and restricts its rapid response ability,due to the uneven distribution of the mass of the suspension system.This paper takes the 300 KN parallel link heavy-duty forging manipulator as the research object,aiming at the breaking condition,not only buffer stiffness and damping characteristics' effect on suspension system under the breaking condition is analyzed,but also the influence of the coupling performance of the springback device and buffer device on the vibration of the system is further considered.Firstly,the forging manipulator's braking condition is theoretically analyzed.Based on a clear definition of manipulator's control precision,the emphasis is much on the research into the calculation method of manipulator's starting and braking acceleration.The selection interval of braking acceleration of forging manipulator is obtained.The optimal stopping speed of forging manipulator under load is given.Secondly,aiming at parallel link-forging manipulator,the physical model of equipment is simplified.This paper analyzes the force and motion state of each rod in the suspension model of the parallel link heavy-duty forging manipulator under braking condition.The single degree of freedom dynamic differential equation of suspension system under the braking condition is established by using the Newton-Euler equation,providing the conditions for the study of the stiffness and damping parameters of the manipulator.At the same time,the kinetic energy and potential energy of suspension system are analyzed by using Lagrange method.The dynamic differential equations of two degrees of freedom of suspension system are established,providing the premise for the study of the effect of the springback device and buffer device's coupling performance on the system vibration under the braking condition.Furthermore,on MATLAB software platform,the single degree of freedom Newton Euler equation and two degrees of freedom Lagrange differential equation are respectively solved by using four orderRunge Kutta method.The buffering stiffness and the damping's influence on the hanging bar's swing angle and the clamping bar's centroid position is analyzed,which provides theoretical basis for the stiffness and damping design of the parallel link-manipulator's suspension system.Meanwhile,the influence of the springback device and buffer device's coupling performance on the tumbler swing angle,the hanging bar's swing angle and the clamping bar's centroid in the suspension system under the braking condition.is obtained.In the suspension system,the effect of the springback device and buffer device's coupling performance on improving the manipulator's control precision is defined.Finally,the simulation is achieved with Adams.The experiment curve of the effect of the buffer device in the suspension system under the braking condition on suspension system is obtained and the experiment curve of the effect of the springback device and buffer device's coupling performance on system vibration is further obtained,which provides research conclusions of visual virtual simulation experiment for improving the control precision of the manipulator.And the feasibility and rationality of theory is verified.Aiming at special working condition,the physical model is simplified in this paper.Dynamic differential equations are established.From the point of view of dynamics,this paper provides a reasonable theoretical basis for the design of the suspension buffer device.By this method,the influence of the coupling performance of springback-buffer device on the system vibration is clarified and the idea of reducing the error of control precision is presented.