Mechanism and dynamics of fully decoupled forging manipulator

XU Yun-dou; TENG Zhi-cheng; LIANG Jing-jing; ZHU Wei-guo; ZHAO Yong-sheng

doi:10.3788/OPE.20162401.0160

您当前的位置：

首页 >

文章列表页 >

Mechanism and dynamics of fully decoupled forging manipulator

更新时间：2020-08-13

- Mechanism and dynamics of fully decoupled forging manipulator
- Optics and Precision Engineering Vol. 24, Issue 1, Pages: 160-168(2016)
- 作者机构：
  
  1. 燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛,066004
  2. 燕山大学先进锻压成型技术与科学教育部重点实验室,河北秦皇岛,066004
  3. 淮阴工学院江苏省数字化制造技术重点建设实验室,江苏淮安,223001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162401.0160
  CLC： TG315
- Received：20 July 2015，
  
  Revised：18 September 2015，
  
  Published：25 January 2016
- 稿件说明：
移动端阅览
许允斗, 滕志程, 梁晶晶等. 完全解耦式锻造操作机运动机理与动力学[J]. 光学精密工程, 2016,24(1): 160-168

XU Yun-dou, TENG Zhi-cheng, LIANG Jing-jing etc. Mechanism and dynamics of fully decoupled forging manipulator[J]. Editorial Office of Optics and Precision Engineering, 2016,24(1): 160-168
许允斗, 滕志程, 梁晶晶等. 完全解耦式锻造操作机运动机理与动力学[J]. 光学精密工程, 2016,24(1): 160-168 DOI： 10.3788/OPE.20162401.0160.

XU Yun-dou, TENG Zhi-cheng, LIANG Jing-jing etc. Mechanism and dynamics of fully decoupled forging manipulator[J]. Editorial Office of Optics and Precision Engineering, 2016,24(1): 160-168 DOI： 10.3788/OPE.20162401.0160.

摘要

为了实现锻造操作机升降运动与水平移动之间的解耦

提出了一种从结构组成原理上实现解耦的锻造操作机机构

并对该机构的运动机理和动力学性能进行了研究与实验验证。首先

基于Hoekens四连杆机构介绍了完全解耦式锻造操作机的结构组成原理;运用螺旋理论工具分析了完全解耦式操作机机构的自由度

对其升降运动和水平移动之间的解耦机理进行了剖析。然后

基于虚功原理建立了操作机机构动力学模型

比较分析了该解耦式操作机机构和典型平行连杆式操作机机构在升降运动和锻造加工过程中的受力性能。最后

研制了该新型解耦式操作机的比例实验模型

采用激光跟踪仪测试了钳杆在升降过程中的水平位移变化量。实验结果表明:在升降运动过程中

钳杆在水平方向的位移变化量在1 mm之内

基本上验证了该完全解耦式锻造操作机能够实现升降运动与水平移动之间的解耦。

Abstract

To achieve the decoupling between the lifting movement and the horizontal movement of a forging manipulator

a kind of manipulator mechanism to achieve the decoupling was presented based on the structural composition principle

and the motion mechanism and the dynamic performance were studied and verified by experiments. Firstly

the composition principle of a fully decoupled forging manipulator was introduced based on the Hoekens four-bar mechanism. The degree of freedom of the fully decoupled forging manipulator was analyzed by using the screw theory

and the decoupling mechanism between the lifting movement and horizontal movement was also dissected. Then the dynamic model was established by using the principle of virtual work. The mechanical behavior between the new mechanism of forging manipulator and the typical parallel-link one was compared and analyzed in the lifting movement and the forging process. Finally

an experimental model of the new forging manipulator mechanism with ratio 1/20 was developed to verify its decoupling performance. Experimental results indicate that during the lifting movement

the displacement variation of the gripper carrier in the horizontal direction remains within 1 mm

which basically verifies that the fully decoupled forging manipulator mechanism achieves the decoupling between the lifting movement and the horizontal movement.

关键词

Keywords

references

余发国,高峰,郭为忠,等. 锻造操作机的回顾与展望[J]. 机械设计与研究, 2007(专刊):12-15. YU F G, GAO F, GUO W ZH, et al.. Review and prospect of forging manipulator [J]. Machine Design and Research, 2007(Suppl):12-15.(in Chinese)

高峰,郭为忠,宋清玉,等. 重型制造装备国内外研究与发展[J]. 机械工程学报, 2010, 46(19): 92-107. GAO F, GUO W ZH, SONG Q Y, et al.. Current development of heavy-duty manufacturing equipment [J]. Chinese Journal of Mechanical Engineering, 2010, 46(19): 92-107.(in Chinese)

张营杰,卫凌云,牛勇,等. 锻造操作机发展现状与研究方向[J]. 锻压装备与制造技术, 2012(2): 11-13. ZHANG Y J, WEI L Y, NIU Y, et al.. Developing status and trend of forging manipulator [J]. China Metalforming Equipment and Manufacturing Technology, 2012(2): 11-13.(in Chinese)

梁音,赵绪平,王驰,等. 大型锻造操作机研究进展[J]. 科技成果纵横, 2010(2): 55-57. LIANG Y, ZHAO X P, WANG CH, et al.. Research progress of large forging manipulator [J]. Scientific and Technological Achievements, 2010(2): 55-57.(in Chinese)

李阁强,江兵,周斌,等. 20T锻造操作机液压控制系统[J]. 农业机械学报, 2015, 45(1): 352-358. LI G Q, JIANG B, ZHOU B, et al.. Hydraulic control system of 20T forging manipulator [J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 45(1): 352-358.(in Chinese)

DANGO, DIENENTHAL M. Schmiedemanipulator,DE: DE20108277 [P]. 2001-09-06.

XU Y D, YAO J T, ZHAO Y S. Type synthesis of spatial mechanisms for forging manipulators [J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2012, 226(9): 2320-2330.

余发国,高峰,史巧硕. 基于GF集的锻造操作机构型方法[J]. 机械工程学报, 2008, 44(11): 152-159. YU F G, GAO F, SHI Q SH. Configuration method of forging manipulator mechanism based on GF set [J]. Journal of Mechanical Engineering, 2008, 44(11): 152-159.(in Chinese)

GE H, GAO F. Type design for heavy-payload forging manipulators [J]. Chinese Journal of Mechanical Engineering, 2012, 25(2): 197-205.

YAN C Y, GAO F, ZHANG Y. Kinematic modeling of a serial-parallel forging manipulator with application to heavy-duty manipulations [J]. Mechanics Based Design of Structures and Machines, 2010, 38(1): 105-129.

XU Y D, ZHAO Y SH. Comparative analysis of two typical mechanisms of forging manipulator [C]. 2010 International Conference on Mechanic Automation and Control Engineering (MACE), Wuhan, China: IEEE, 2010: 2314-2317.

许允斗, 赵永生. 三种锻造操作机主运动机构受力比较分析[J]. 机械设计, 2012, 29(7): 38-42. XU Y D, ZHAO Y SH. Comparative analysis of the force of the main motion of three kinds of forging manipulator mechanisms [J]. Journal of Machine Design, 2012, 29(7): 38-42.(in Chinese)

XU Y D, LIANG S P, LU L, et al.. Force capabilities analysis of a typical mechanism of forging manipulator using a modified scaling factor method [J]. International Journal of Mechanism and Robotic Systems, 2013, 1(3): 152-169.

许允斗,梁晶晶,杨彦东,等. 一种完全解耦式锻造操作机机构[J]. 机械设计, 2015, 32(6): 18-21. XU Y D, LIANG J J, YANG Y D, et al.. A completely decoupled forging manipulator mechanism [J]. Journal of Machine Design, 2015, 32(6): 18-21.(in Chinese)

姜峣,李铁民,王立平. 过约束并联机构动力学建模方法[J]. 机械工程学报, 2013, 49(17): 213-219. JIANG Y, LI T M, WANG L P. Dynamic modeling method for overconstrained parallel mechanism [J]. Journal of Mechanical Engineering, 2013, 49(17): 213-219.(in Chinese)

陈斌,宗光华,于靖军,等. 一种2-DOF类球面并联转台的动力学建模及分析[J]. 机械工程学报, 2013, 49(13): 24-30. CHEN B, ZONG G H, YU J J, et al.. Modeling and analysis of a 2-DOF spherical parallel turntable [J]. Journal of Mechanical Engineering, 2013, 49(13): 24-30.(in Chinese)

ZHAO Y J, GAO F. Inverse dynamics of the 6-DOF out-parallel manipulator by means of the principle of virtual work [J]. Robotica, 2009, 27(2): 259-268.

WANG SH CH, HIROMITSU HIKITA, HIROSHI KUBO, et al.. Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints [J]. Mechanism and Machine Theory, 2003, 38(5): 439-461.

HUANG ZH, LI Q C. General methodology for type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators [J]. International Journal of Robotics Research, 2002, 21(2): 131-146.

ZHAO T SH, DAI J S, HUANG ZH. Geometric analysis of overconstrained parallel manipulators with three and four degrees of freedom [J]. JSME International Journal-Series C, 2002, 45(3), 730-740.

LU S N, ZLATANOV D, DING X, et al.. A novel prism deployable mechanism based on straight-line mechanism [C]. 2nd IFToMM Symposium on Mechanism Design for Robotics, Beijing, China: 2012.

Views

394

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research progress of parallel coordinate measuring machine

Mechanism design and dynamic analysis of large-scale two-dimensional deployable planar antenna

Research on dynamic characteristics of space camera focusing platform

Rigid-flexible coupling dynamics analysis based on deployable mechanism of LS-DYNA folding wing

Related Author

HU Penghao

OUYANG Kai

FU Rao

YANG Long

Hong-wei GUO

Ming-li LIU

Chuang SHI

Rong-qiang LIU

Related Institution

School of Instrument Science and Opto-electronics Engineering， Hefei University of Technology

Xi'an Institute of Space Radio Technology

State Key Laboratory of Robotics and Systems， Harbin Institute of Technology

Xi′an Institute of Optics and Precision Mechanics, Chineses Academy of Sciences, Xi′an

University of Chinses Academy of Sciences

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰