Type Design for Heavy-payload Forging Manipulators  

作　　者：GE Hao GAO Feng 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Chinese Journal of Mechanical Engineering》2012年第2期197-205,共9页中国机械工程学报（英文版）

基　　金：supported by National Key Basic Research Program of China (973 Program,Grant No. 2006CB705402);Important National Science & Technology Specific Projects (Grant No. 2009ZX04002-061);National Hi-tech Research and Development Program of China (863Program,Grant No. 2008AA04XK1478950)

摘　　要：Heavy-payload forging manipulators are mainly characterized by large load output and large capacitive-load input.The relationship between outputs and inputs,which will greatly influence the control and the reliability,is the key issue in type design for heavy-payload forging manipulators.In this paper,a type design method by considering the incidence relationship between output characteristics and actuator inputs is presented and used to design the mechanism for forging manipulators.The concept of modeling method based on the outputs tasks is defined and investigated.The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed.An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.The incidence relationship matrix between outputs and inputs is also given.The design flow is obtained,and the incidence relationship between outputs and inputs for heavy-payload forging manipulators is divided into three parts after detailed understanding of the functional properties.Four types of mechanisms for heavy-payload forging manipulators are given,and the corresponding spatial mechanical sketches are also drawn,some new designed mechanisms have been adopted by company or used as prototype.These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators and patent application.Heavy-payload forging manipulators are mainly characterized by large load output and large capacitive-load input.The relationship between outputs and inputs,which will greatly influence the control and the reliability,is the key issue in type design for heavy-payload forging manipulators.In this paper,a type design method by considering the incidence relationship between output characteristics and actuator inputs is presented and used to design the mechanism for forging manipulators.The concept of modeling method based on the outputs tasks is defined and investigated.The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed.An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.The incidence relationship matrix between outputs and inputs is also given.The design flow is obtained,and the incidence relationship between outputs and inputs for heavy-payload forging manipulators is divided into three parts after detailed understanding of the functional properties.Four types of mechanisms for heavy-payload forging manipulators are given,and the corresponding spatial mechanical sketches are also drawn,some new designed mechanisms have been adopted by company or used as prototype.These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators and patent application.

关 键 词：heavy-payload type design forging manipulators kinematic characteristics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U469.11[自动化与计算机技术—控制科学与工程]