Beruflich Dokumente
Kultur Dokumente
petrescuflorian@yahoo.com, bpetrescuvictoria@yahoo.com
* The corresponding author
Keywords: Railbound forging manipulator, heavy load, control, reliability, manipulate objects to be
forged, moving on a railway, precision, stability, geometry, structure, cinematic, forces.
Abstract. Heavy payload forging manipulators are mainly characterized by large load output and
large capacitive load input. The relationships between outputs and inputs have greatly influence
about the control and the reliability. Forging manipulators have become more prevalent in the
industry today. They are used to manipulate objects to be forged. The most common forging
manipulators are moving on a railway to have a greater precision and stability. They have been
called the railbound forging manipulators. In this paper one presents the general aspects of a
railbound forging manipulator, like geometry, structure, general kinematics and forces of the main
mechanism from such manipulator. Kinematic scheme shows a typical forging manipulator, with
the basic motions in operation process: walking, motion of the tong and buffering. The lifting
mechanism consists of several parts including linkages, hydraulic drives and motion pairs. An idea
of establishing the incidence relationship between output characteristics and actuator inputs is
proposed.
Introduction
A railbound forging manipulator is presented in the fig. 1.
(1)
It is obtained: three motor dyads, one classic dyad, and a fundamental item 0 [1-5].
The mobility of the mechanism is determined with the formula (2).
M 3 3m 2C5 C4 3 11 2 15 0 33 30 3
(2)
It follows three degrees of freedom corresponding to the three actuators (motors) linear.
The wiring diagram can be determined now using the structural formula (see the fig. 4).
( yK yF ) g sin(3 ) l1 sin 8
2
2
2
A0 4a ( x K b cos ) ( y K b sin ) 4a[( x K b cos ) cos 6 ( y K b sin ) sin 6 ];
2a cos 6 x K b cos
cos 1
l3
l3 A0
1 sign(sin 1 ) arccos(cos 1 )
l3
a cos 6 f cos( ) xM x A
cos 10
l3
10 sign(sin 10 ) arccos(cos 10 )
a sin 6 f sin( ) y M y A
sin 10
l3
(3)
x x K l2 cos 10 a cos 6
cos 3 A
3 sign(sin 3 ) arccos(cos 3 )
sin y A y K l2 sin 10 a sin 6
3
cos x K x F g cos( 3 )
8
(4)
l1
8 sign(sin 8 ) arccos(cos 8 )
sin 8 y K y F g sin( 3 )
l1
4
a
(
x
cos
2
a
[
x
cos(
)]
2
K
M
A
A 4a ( y b sin ) 2a [ y y f sin( )]
K
M
A
3
FGix4 m4 xG4
iy
FG4 m4 yG4 m4 g
i
M 4 J G4 4 0
ix
FM M xM
iy
FM M yM M g
M i J
M
M
FGix3 m3 xG3
iy
FG3 m3 yG3 m3 g
i
M 3 J G3 3
FGix6 m6 xG6 m6 xH
iy
FG6 m6 yH m6 g
i
M 6 J H 6
FGix5 m5 xG5
iy
FG5 m5 yG5 m5 g
i
M 5 J G5 3
FGix7 m7 xG7
iy
FG7 m7 yG7 m7 g
i
M 7 J G7
(5)
FGix m10,11 xG
10
10
iy
y
G10
10,11
G10 m10,11 g
i
M 10 J G10,11 10
Is then calculated all the forces from couplers. In the end we can determine and (three) driving
forces [1-5]. In figure 5 can be monitored engine element c1 composed of kinematic elements 8-9.
FGix8 RLx
(8)
ix
x
F
cos
x
m1
8
G8
L
m1
cos 8
FGiy8 RLy
(8)
iy
y
F
sin
m1
8
G8
L
m1
y
sin 8
(6)
FGix10 R Hx
(10)
ix
x
Fx 0 Fm2 cos 10 FG10 R H 0 Fm2
cos 10
FGiy10 R Hy
iy
(10)
y
F
sin
y
m2
10
H
m2
G10
sin 10
(7)
FGix1 R Ex
(1)
ix
x
Fx 0 Fm3 cos 1 FG1 R E 0 Fm3
cos 1
FGiy1 R Ey
(1)
iy
y
Fy 0 Fm3 sin 1 FG1 R E 0 Fm3 sin
1
(8)
Conclusions
Forging manipulators themselves have become more prevalent in the industry today.
An idea of establishing the incidence relationship between output characteristics and actuator
inputs is proposed (see the relations from systems 3 and 4).
The main problems are solving positions, speeds and motor forces of the main mechanism. In
the end we can determine and (three) driving forces (the relations from systems 6-8).
References
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