A new-type of six-DOF forging manipulator which has front and rear lifting drivers is proposed. The complex vector is used to conduct a comprehensive analysis of the kinematics of the forging manipulator’s major-motion mechanism. The dynamic model of the major-motion mechanism is established based on the principle of virtual work in the case of regarding the cylinder and piston of hydraulic cylinder as one component. The sine velocity planning is made on the end of clamp under the movements of lifting, pitching and horizontal, and the dynamics model is simulated in the case of the given load. The dynamic model of the reduced model is compared with the theoretical model which regards the cylinder and piston of hydraulic cylinder as two components, and the driving force error curve of three hydraulic cylinders of the two models under the condition of three kinds of movements is got. The result shows that the main bearing component of the new forging manipulator is the front lifting hydraulic cylinder. The reduced model is equivalent to the theoretical model, and it simplifies the dynamics modeling process effectively. The result provides an important theoretical basis for the design and applying of the mechanism.
DING Huafeng1, 2, 3, ZU Qi1, FENG Zemin2, 3
. Dynamic Analysis of A New Forging Manipulator’s Main Motion Mechanism Based on the Principle of Virtual Work[J]. Journal of Mechanical Engineering, 2016
, 52(9)
: 18
-27
.
DOI: 10.3901/JME.2016.09.018
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