Title: Force capabilities analysis of a typical mechanism of forging manipulator using a modified scaling factor method

Authors: Yundou Xu; Shunpan Liang; Ling Lu; Yongsheng Zhao

Addresses: Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China; Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei, 066004, China ' Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China; The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China ' Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China; Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei, 066004, China ' Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China; Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei, 066004, China

Abstract: In this work, two performance indices are definitely proposed to evaluate force capabilities of forging manipulator, they are the largest weight of the forged piece and the largest moment generated by the eccentricity of the forged piece that the forging manipulator can manipulate, respectively. To obtain the solution of the above-mentioned performance indices, a modified scaling factor method for force capabilities analysis of the planar parallel manipulators is then put forward, by which a more exact solution of the largest force and the largest moment in any specified directions that the planar parallel manipulators can sustain can be derived. Finally, the largest weight and moment of the forged piece that the forging manipulator can manipulate are analysed by using the modified scaling factor method, and dimensional optimisation of the typical mechanism of forging manipulator is carried out based on these two performance indices.

Keywords: force capabilities; forging manipulators; forging robots; scaling factor; dimensional optimisation; performance indices; planar robots; parallel robots.

DOI: 10.1504/IJMRS.2013.057178

International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.2/3, pp.152 - 169

Received: 15 Nov 2012
Accepted: 05 Apr 2013
Published online: 12 Jul 2014 *

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