Dynamic Analysis of A New Forging Manipulator’s Main Motion Mechanism Based on the Principle of Virtual Work

doi:10.3901/JME.2016.09.018

Abstract

Abstract: 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.

Key words: dynamics analysis, kinematics analysis, new-type forging manipulator, principle of virtual work

CLC Number:

TP21

DING Huafeng^{1, 2, 3}, ZU Qi¹, FENG Zemin^{2, 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.

References

[1] 陈博翁. 一种锻造操作机的机构分析及其虚拟样机[D]. 北京：清华大学,2007. CHEN Boweng. Mechanism analysis on a forging manipulator and its virtual prototyping[D]. Beijing：Tsinghua University,2007.
[2] 童幸. 锻造操作机主运动机构性能研究[D]. 上海：上海交通大学,2011.
TONG Xing. Performance research on major-motion mechanisms for forging manipulators[D]. Shanghai：Shanghai Jiao Tong University,2011.
[3] 王飞宇. 重载锻造操作机设计机理及动态特性研究[D]. 重庆：重庆大学,2012.
WANG Feiyu. Study on design principle and dynamic behavior of heavy-load forging manipulator[D]. Chongqing：Chongqing University,2012.
[4] 王怀彬. 锻造操作机运动学与逆运动学分析[D]. 上海：上海交通大学,2008.
WANG Huaibin. The kinematic and dynamic analysis of forging manipulator[D]. Shanghai：Shanghai Jiao Tong University,2008.
[5] 李刚,刘德时. 锻造操作机大范围顺应运动的动力学行为分析[J]. 机械工程学报,2010,46(11)：22-28.
LI Gang,LIU Deshi. Dynamic behavior of the forging manipulator under large amplitude compliance motion[J]. Journal of Mechanical Engineering,2010,46(11)：22-28.
[6] 关立文,程宁波. 锻造操作机相似模型逆动力学建模与非线性控制器设计[J]. 机械工程学报,2010,46(11)：56-57.
GUAN Liwen,CHENG Ningbo. Inverse dynamic modeling and nonlinear controller design of the similar model of a forging manipulator[J]. Chinese Journal of Mechanical Engineering,2010,46(11)：56-57.
[7] CHEUNG J, HUNG Y S. Modelling and control of a 2-DOF planar parallel manipulator for semiconductor packaging systems[C]// 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,July 24-28, 2005,Monterey. CA：ASME,2005(1-2)：717-722.
[8] ABDELLATIFH H,GROTJAHN M,HEIMANN B. High efficient dynamics calculation approach for computed-force control of robots with parallel structures[C]// 2005 44th IEEE Conference on Decision and Control & European Control Conference,December 12-15,2005,Seville,Spain. 2005：2024-2029.
[9] CODOUREY A,BURDET E. A body-oriented method for finding a linear form of the dynamic equation of fully parallel robots：Robotics and automation[C]// Proceedings of IEEE International Conference on Albuquerque,New Mexico. 1997：1612-1618.
[10] CODOUREY A. Dynamic modeling of parallel robots for computed-torque control implementation[J]. International Journal of Robotics Research,1998,17(12)：1325-1336.
[1] 蒋伟. 机械动力学分析[M]. 北京：中国传媒大学出版社,2005.
JIANG Wei. Mechanical dynamics analysis[M]. Beijing：Communication University of China Press,2005.

[1]	XU Lingmin, YE Wei, LI Qinchuan. Geometric Algebra-based Method for Inverse Dynamic Modeling of Parallel Robots [J]. Journal of Mechanical Engineering, 2022, 58(7): 1-11.
[2]	YANG Yang, CHEN Zilu, GUANG Chenhan, ZHENG Yu, LIN Chuang. Design and Kinematics Analysis of a Serial-parallel Hybrid Mechanism Used for Intraocular Surgeries [J]. Journal of Mechanical Engineering, 2022, 58(3): 36-44.
[3]	YANG Hui, FENG Jian, LIU Yongbin, LIU Rongqiang. Design and Kinematic Analysis of a Large Deployable Mechanism of the Parabolic Cylindrical Antenna with Multi Tape-spring Hinges [J]. Journal of Mechanical Engineering, 2022, 58(3): 75-83.
[4]	SHEN Lijing, GENG Kun, LI Panhao, ZHANG Jing. Design and Mechanical Analysis of Cable Rod Truss Deployable Mechanism [J]. Journal of Mechanical Engineering, 2022, 58(17): 135-143.
[5]	YAN Huiyin, LI Chuanyang, GUO Hongwei, GUO Wenshang, LIU Rongqiang. Structural Design and Inverse Kinematics Analysis of a 3-R(SRS)RP Multi-loop Mechanism Manipulator for Space Application [J]. Journal of Mechanical Engineering, 2021, 57(7): 1-9.
[6]	LIU Chenglei, ZHANG Jianjun, NIU Jianye, LIU Teng, QI Kaicheng, GUO Shijie. Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation [J]. Journal of Mechanical Engineering, 2021, 57(21): 45-54.
[7]	ZHANG Minglu, WANG Zhe, LI Manhong, ZHANG Jianhua, CHEN Junjie. Perception and Representation of Roaming Terrain for a Hexapod Robot Based on Foot Positions [J]. Journal of Mechanical Engineering, 2021, 57(19): 48-60.
[8]	CAI Ganwei, HUANG Yiyang, TIAN Junwei, GONG Junjie, WEI Wei, XING Shuxin. Research on a New Working Mechanism of Face-shovel Hydraulic Excavator [J]. Journal of Mechanical Engineering, 2021, 57(13): 132-143.
[9]	CHANG Boyan, YANG Shuai, JIN Guoguang, ZHANG Zhuan, ZHU Yongjie. Motion Analysis of Spatial Deployable Mechanism Driven in Straight Line [J]. Journal of Mechanical Engineering, 2020, 56(5): 192-201.
[10]	WU Shilei, SHAO Zhongxi, SU Haijun, FU Hongya. Structure Design Method of Complaint Parallel Mechanism for Grating Tiling with Heavy Load Capacity and High Precision [J]. Journal of Mechanical Engineering, 2020, 56(19): 113-121.
[11]	DONG Xuguang, FU Junwei. Precipitation Thermodynamics of TiN in B439M Ferritic Stainless Steel during Solidification [J]. Journal of Mechanical Engineering, 2020, 56(18): 73-80.
[12]	GUO Sheng, MIAO Yuting, QU Haibo, ZHAO Fuqun. Design and Analysis of Novel High Performance Plane Trajectory Guidance Mechanisms [J]. Journal of Mechanical Engineering, 2019, 55(5): 45-52.
[13]	ZHAO Fuqun, GUO Sheng, QU Haibo. Novel High Stiffness Redundant Parallel Mechanism with Closed-loop Units [J]. Journal of Mechanical Engineering, 2017, 53(9): 30-37.
[14]	ZI Bin, ZHOU Bin, QIAN Sen. Dynamic Modeling and Analysis of Cable Parallel Manipulator for Dual Automobile Cranes during Luffing Motion [J]. Journal of Mechanical Engineering, 2017, 53(7): 55-61.
[15]	CHEN Ziming, LIU Xiaomeng, ZHANG Yang, HUANG Kun, HUANG Zhen. Dynamics Analysis of a Symmetrical 2R1T 3-UPU Parallel Mechanism [J]. Journal of Mechanical Engineering, 2017, 53(21): 46-53.