Force capabilities analysis of a typical mechanism of forging manipulator using a modified scaling factor method Online publication date: Sat, 12-Jul-2014
by Yundou Xu; Shunpan Liang; Ling Lu; Yongsheng Zhao
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 1, No. 2/3, 2013
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.
Online publication date: Sat, 12-Jul-2014
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