• CN: 11-2187/TH
  • ISSN: 0577-6686

›› 2010, Vol. 46 ›› Issue (4): 27-34.

• Article • Previous Articles     Next Articles

Compliance Process Analysis for Forging Manipulator

ZHAO Kai;WANG Hao;CHEN Guanlong;LIN Zhongqin;HE Yongbo   

  1. School of Mechanical Engineering, Shanghai Jiao Tong University Special Steel Branch, Baosteel Co. Ltd.
  • Published:2010-02-20

Abstract: A multi-domain dynamic modeling of forging manipulator including forging, mechanism and hydraulic elements is established to study a forging process. Based on the modular approach, the forging subsystem, mechanism subsystem and hydraulic subsystem are all expressed in state space equations, which can form the coupling dynamic model by defining the input and output relations among subsystems. The model is utilized to describe and analyze the compliance process and the characteristics for two periods of compliance are revealed, that is: two degrees of freedom active compliance stage and three degrees of freedom active and passive compliance stage. The compliance process under one typical working condition is simulated and analyzed based on three different cases: invalidation of buffering cylinder, constant pressure of buffering cylinder and the actual situation. The simulation results show that the compliance movement will on one hand protect the manipulator from being damaged by large load and on the other hand improve the external load environment, which has great significance to keep the manipulator work in good conditions. The theoretical basement is also provided for the design and optimization of forging manipulator.

Key words: Compliance, Dynamics, Forging, Manipulator

CLC Number: