Something about a Railbound Forging Manipulator

2019 ◽  
Author(s):  
Relly Victoria Petrescu
Keyword(s):  
Forging Manipulator

Presenting a Railbound Forging Manipulator

2015 ◽  
Vol 762 ◽  
pp. 219-224
Author(s):  
Florian Ion Petrescu ◽  
Relly Victoria Petrescu
Keyword(s):  
Main Mechanism ◽  
Kinematic Scheme ◽  
Large Load ◽  
Geometry Structure ◽  
Operation Process ◽  
Walking Motion ◽  
Capacitive Load ◽  
Forging Manipulator ◽  
Output Characteristics ◽  
General Aspects

Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationships between outputs and inputs have greatly influence about the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper one presents the general aspects of a railbound forging manipulator, like geometry, structure, general kinematics and forces of the main mechanism from such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed.

Calculation of Contact Forces of Large-Scale Heavy Forging Manipulator Grippers

2009 ◽  
Vol 419-420 ◽  
pp. 645-648 ◽  
Author(s):  
Qun Ming Li ◽  
Dan Gao ◽  
Hua Deng
Keyword(s):  
Large Scale ◽  
Optimization Method ◽  
Contact Forces ◽  
Robotic Hand ◽  
Closure Condition ◽  
Contact Points ◽  
Robot Hands ◽  
Calculation Results ◽  
Forging Manipulator ◽  
Gripping Force

Different from dexterous robotic hands, the gripper of heavy forging manipulator is an underconstrained mechanism whose tongs are free in a small wiggling range. However, for both a dexterous robotic hand and a heavy gripper, the force closure condition: the force and the torque equilibrium, must be satisfied without exception to maintain the grasping/gripping stability. This paper presents a gripping model for the heavy forging gripper with equivalent friction points, which is similar to a grasp model of multifingered robot hands including four contact points. A gripping force optimization method is proposed for the calculation of contact forces between gripper tongs and forged object. The comparison between the calculation results and the experimental results demonstrates the effectiveness of the proposed calculation method.

Mechanism and dynamics of fully decoupled forging manipulator

2016 ◽  
Vol 24 (1) ◽  
pp. 160-168
Author(s):  
许允斗 XU Yun-dou ◽  
滕志程 TENG Zhi-cheng ◽  
梁晶晶 LIANG Jing-jing ◽  
朱为国 ZHU Wei-guo ◽  
赵永生 ZHAO Yong-sheng
Keyword(s):  
Forging Manipulator
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