Transactions of Materials and Heat Treatment

Title：Study on control precision of parallel link-forging manipulator under braking condition

Authors： Yang Xiaobo Liu Yanyan Yang Jin He Qigong

Unit： Lanzhou Jiaotong University Lanzhou LS Energy Equipment Engineering Research Co. Ltd.

KeyWords： forging manipulator suspension system buffer device springback device Lagrange equation

ClassificationCode：TG315.4

year,vol(issue):pagenumber：2017,42(8):77-82

Abstract：

The working accuracy and fast-response ability of the forging manipulator is severely restricted by the inertial impact effect caused by braking condition. For the parallel link-forging manipulator, the dynamics model of suspension system was built by Lagrange equation under the braking condition. Then, the influences of coupling performance of the springback device and buffer device in the system on the control precision were analyzed, and the method of reducing the error of manipulator control precision was researched. Taking the 300 kN forging manipulator as an example, the dynamic differential equation was solved by Matlab, and the influence regulation of the springback device and buffer device under the braking condition on the tumbler swing angle, the hanging bar swing angle and the clamping bar centroid was obtained. Furthermore, the springback device and buffer device coupling performance on improving the manipulator control precision was confirmed. Finally, the dynamic simulation on manipulator was conducted, and the simulation experiment curve influencing of the springback device and buffer device coupling performance in the suspension system under the braking condition on system vibration was obtained. The feasibility and rationality of the theoretical analysis were verified further.

Funds：

国家自然科学基金资助项目(51265022)；甘肃省科技计划资助项目(145ＲJZA187)

杨晓波(1991-)，男，硕士研究生杨晋(1961-)，男，学士，教授

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