Analysis On Kinematical And Dynamical Performances Of 2t/5t·m Forging Manipulator

As giant industrial robot working under extreme load,forging manipulator plays an important role in modern forging system of large forgings when cooperating with free forging hydraulic press,which greatly improve the production efficiency and forging quality.This paper proposed a novel forging manipulator mechanism,and its kinematical and dynamical performances were analyzed through a combination of theoretical calculation and simulation analysis.The ultimate aim is to make preliminary exploration and provide reference in developing novel forging manipulator with independent intellectual property rights in China.Two kind of typical forging manipulator mechanisms were introduced,and their main motion mechanisms were divided into several functional structure units for optimization and redesign.With the application of Hoeckens straight-line mechanism into horizontal buffering mechanism and the synchronization levers above the lifting arms,a novel type of forging manipulator mechanism was obtained by assembling all the redesigned units together.The kinematical models of this newly designed mechanism and a typical mechanism of SMS forging manipulator were built using algebraical and geometrical method.The output parameters were redefined to analyze their motion decoupling properties.The input strokes of all drive hydraulic cylinders were designed based on the manipulator prototype with the carrying capacity of 2t/5t·m.Ignoring the constraint conditions of all joints,considering the limitation of the length of all drive hydraulic cylinders and the interference of the whole machine,the working space of these two manipulator mechanisms were analyzed as well.The dynamical model of 2t/5t·m forging manipulator was constructed using Newton-Euler method.Considering three different working conditions,namely lifting,pitching and horizontal buffering,the rigid-body dynamical response of hydraulic cylinders and constrained force of critical nodes in forging manipulator were obtained based on sinusoidal motion-planning.Taking the elastic deformation of each component into consideration,the elastodynamics model of lifting mechanism,pitching mechanism and buffering mechanism were also established for further research.Newmark step-by-step method was used to solve the dynamic equilibrium equation,and the responding computer program was coded to reveal the elastic dynamical response law of hydraulic cylinders and critical nodes in 2t/5t·m forging manipulator.The structural design and improvement of the new 2t/5t·m forging manipulator were conducted based on the theoretical analysis results and performance indexes.The virtual prototype model of 2t/5t·m forging manipulator was also established in ADAMS,and the simulation analysis of kinematics and dymatics were carried on to verify the validity of theoretical analysis model.