Design And Simulation Research Of Forging Special Manipulator

As an important metal processing method,forging is widely used in the manufacturing industry and is also an important part of the national economy.At present,China’s forging industry generally has problems such as single type,low degree of mechanization automation,long production cycle,and high manufacturing cost.These problems have always restricted the development of the industry,and it is also inconsistent with the requirements of “industrialization” at this stage.In this paper,a special mechanical arm device is designed for the practical problems and needs in the production of the enterprise to complete the handling,positioning and placement of the workpiece.Compared with the traditional operation mode,the device can improve production efficiency,save labor cost,and has certain guarantee in production safety.Based on the deep understanding of the research and development of the robot arm at home and abroad,this paper completes the design work of the special robot arm.The dynamic part,the operative part and the completion mode of each action of the manipulator are evaluated and screened,and a preliminary three-dimensional model is built by using modeling software.In order to further determine the design of the claw part,three kinds of claw design schemes were simulated and analyzed using ADAMS simulation software.The parametric optimization module in ADAMS is used to optimize the selected design scheme with the minimum driving force F as the optimization goal.The optimized driving force is reduced by 22.34 % before optimization,and the structure is more compact and reasonable.Meanwhile,the artificial hand pawl conditions opponents claws performed using static analysis using ANSYS Workbench15.0 optimization module of the opponent claw fingers of the response surface analysis,to ensure the quality of the same premise,the optimization of the rear finger The deformation is reduced by 30.1%,and the effect is obvious,which improves the stability of the gripper device after being stressed.Afterwards,the hydraulic system and the rotary device of the device were related to the calculation and study: The force analysis and parameter calculation under the main working conditions were carried out on the main hydraulic cylinders,and the main structural parameters were obtained.According to the results,the type selection of components and the hydraulic diagram are designed.Mechanics analysis and type selection calculation of the rotary device are carried out.After the design work is completed,the control system of the device is initially designed,and the control language is prepared by using a reasonable control method,so that the entire device can meet the design requirements.