The Research on Characteristics of Movement Coupling in Forging Manipulator

Jing Fei He; Chao Xu; Hua Deng; Long Han

doi:10.4028/www.scientific.net/AMR.591-593.648

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 591-593The Research on Characteristics of Movement...

The Research on Characteristics of Movement Coupling in Forging Manipulator

Abstract:

Heavy-duty forging manipulators play an important role in extreme manufacturing. Based on the kinematic model of DDS forcing manipulator, the input- output relation equations in terms of position are derived. According to the actually movement path of output mechanism, a new decoupling concept is defined as to forcing manipulator. The input-output relation matrices in terms of velocity are established at three major motions, and the coupling characteristics of mechanism are analyzed. At last, the theory analysis is proved correct by experimental verification. The results show that three major motion mechanisms of DDS forcing manipulator are partially decoupled under the new decoupling concept compared with the conventional one, which helps to simplify the control strategy of DDS forcing manipulator.

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Periodical:

Advanced Materials Research (Volumes 591-593)

Pages:

648-652

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.591-593.648

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Online since:

November 2012

Authors:

Jing Fei He, Chao Xu, Hua Deng, Long Han

Keywords:

Forging Manipulator, Major Motion, Movement Coupling, Relation Matrix

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