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Journal articles on the topic 'Forging manipulator'

Author: Grafiati

Published: 4 June 2021

Last updated: 10 February 2022

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1

Wang, J., F. Gao, and Y. Zhang. "Intelligent Control of a Novel Hydraulic Forging Manipulator." Journal of Robotics 2011 (2011): 1–7. http://dx.doi.org/10.1155/2011/530247.

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The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

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2

Petrescu, Florian Ion, and Relly Victoria Petrescu. "Presenting a Railbound Forging Manipulator." Applied Mechanics and Materials 762 (May 2015): 219–24. http://dx.doi.org/10.4028/www.scientific.net/amm.762.219.

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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.

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3

Liu, De Shi, and Gang Li. "Dynamic Behavior of the Forging Manipulator under the Press Motions." Key Engineering Materials 419-420 (October 2009): 417–20. http://dx.doi.org/10.4028/www.scientific.net/kem.419-420.417.

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When designing forging manipulators, the bending moments transmitted to the manipulator through the workpiece due to the press motions should be reduced to avoid damage to the manipulator and the workpiece. A resilient system is designed to this purpose. This paper investigates the dynamic behavior of the forging manipulator due to press motions, which focuses on the bending moment transmitted to the manipulator. The Forging manipulator parameters assume primary importance in design, such as the clamp mass, resilient stiffness, resilient damping. A parametric study is committed to provide some helpful solutions for forging manipulator design.

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4

Chu, X., F. Gao, W. Guo, and C. Yan. "Complexity of Heavy-Payload Forging Manipulator Based on Input/Output Velocity Relationship." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 224, no. 11 (May 14, 2010): 2468–76. http://dx.doi.org/10.1243/09544062jmes2268.

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There are different definitions of complexity in many areas. For a heavy-payload manipulator, the kinematic coupling degree problem, which has much influence on its control and reliability, is very important. This paper proposes a definition of complexity to measure the kinematic coupling degree of a manipulator. After the manipulator's desired output motions in the workshop are obtained, the matrix relating the velocities of actuated joints to the velocities of all basic output motions is calculated. Based on the preceding matrix, the definition of complexity is presented. To illustrate the methods introduced in this paper, four types of heavy-payload forging manipulators (FMs) are analysed, and the type of FM with the smallest complexity is chosen as our prototype.

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5

Ding, Wen Hua, Hua Deng, Yi Zhang, and Yao Qing Ren. "Optimum Design of the Jaw Clamping Mechanism of Forging Manipulators Based on Force Transmissibility." Applied Mechanics and Materials 157-158 (February 2012): 737–42. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.737.

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In this paper, the jaw clamping mechanism of a forging manipulator is regarded as a slider-crank mechanism. First, the force Jacobian matrix of the mechanism is obtained according to the dual relationship of velocity Jacobian matrix and force Jacobian matrix. Then, the performance atlases of the global force transmission index and the input space index that represents the motion range of the jaw are drawn with different inputs for the mechanisms of the nondimensional parameters. Furthermore, we research the effect of these structure parameters of the mechanism on the gripping force transmission and input space, and find an optimal range in the force transmission atlas. Finally, we synthesize a detail optimal flowchart of the jaw clamping mechanism of forging manipulators based on force transmissibility. A jaw clamping mechanism of a forging manipulator is studied as an example, and results show that the method presented in this paper is effective for finding an optimal gripper mechanism. The research in this paper can be served as fundamentals of design and optimization of the jaw clamping mechanism of forging manipulators.

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6

He, Jing Fei, Chao Xu, Hua Deng, and Long Han. "The Research on Characteristics of Movement Coupling in Forging Manipulator." Advanced Materials Research 591-593 (November 2012): 648–52. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.648.

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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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7

Xu, Yundou, Yu Liu, Jiantao Yao, and Yongsheng Zhao. "Analysis of a novel lifting mechanism for forging manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 3 (May 15, 2014): 528–37. http://dx.doi.org/10.1177/0954406214535924.

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In this paper, a hybrid serial–parallel forging manipulator was put forward, which is composed of a planar five-bar mechanism and a two-limb parallel mechanism in series. Forging manipulator’s DOF properties and motion principle were analyzed by means of screw theory. The position solution of the main motion mechanism of manipulator was derived in the grasping stage, which was used to solve input displacements of lifting and pitching hydraulic cylinders depending on the requirements of forged piece’s lifting height and pitching angle. Dimensional optimization of the manipulator’s main motion mechanism is carried out based on position equations, resulting in that the gripper carrier’s lifting motion was decoupled from the horizontal motion. The analytical expression between driving forces of each hydraulic cylinder and external load was derived by solving the first-order derivative of position equations and using principle of virtual work. The results showed that for the parallel-link manipulator, when gripper carrier is horizontal, driving force of lifting hydraulic cylinder is only related to forged piece’s gravity but not to gravitational moment. The mechanism of this phenomenon was also further studied. Experimental model with ratio 1:20 of forging manipulator’s lifting mechanism was developed, and kinematic and static experiments were conducted on it to verify the dimensional optimization results and the conclusion was obtained by the statics.

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8

Chu, Xiaobing, and Feng Gao. "Kinematic coupling complexity of heavy-payload forging manipulator." Robotica 30, no. 4 (August 26, 2011): 551–58. http://dx.doi.org/10.1017/s0263574711000968.

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SUMMARYThere exist several kinds of definitions for complexity in different areas. In mechanical engineering area, some formulations capable of measuring the complexity of robotic architectures have been proposed at the conceptual-design stage. This paper presents the definition of Kinematic Coupling Complexity to measure the kinematic coupling degree of a manipulator based on the input/output velocity matrix. In order to distinguish the differences among many matrixes, three factors will be considered including the proportion of nonzero elements in matrix J, the difference of nonzero elements' numbers in every row among many matrixes, and the difference of nonzero elements' positions among many matrixes. To illustrate the methods introduced in this paper, four types of heavy-payload forging manipulators are analyzed and the type of forging manipulator with the smallest Kinematic Coupling Complexity is chosen as our prototype.

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9

Zhou, Hua, and Jiao Yi Hou. "Vertical Load Analysis of the Lifting Systems for Forging Manipulator during the Forging Process." Advanced Materials Research 317-319 (August 2011): 764–69. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.764.

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Holding the work piece for the forging press is the main task of the forging manipulator, and it is recognized as one of industry’s most arduous tasks. To ensure the safety of the manipulator mechanism, the resistance force exerted on the clamp must be minimized [1]. This paper focuses on the vertical load analysis of lifting systems for the forging manipulator when it works in cooperation with the forging press. First the equivalent stiffness model of the work piece is presented and the loads of the lifting systems are derived. Then the hydraulic circuits of the front and the rear lifting systems are investigated. Finally, the whole forging process is analyzed to study the relationship between the tracking error of the lifting systems and the resistance force on them. Simulation of one typical forging process shows that the cause of resistance force on the lifting system is the displacement tracking error.

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10

Hou, Jiaoyi, Zengmeng Zhang, Hua Zhou, Dayong Ning, and Yongjun Gong. "Hydraulic systems control based on the characteristics of major-motion mechanism for an open-die forging manipulator." Advances in Mechanical Engineering 9, no. 2 (February 2017): 168781401769095. http://dx.doi.org/10.1177/1687814017690959.

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In the open-die forging process, the forging manipulator must cooperate closely with the forging press. Terrible working conditions of open-die forging have resulted in significant demand on the hydraulic control systems of the forging manipulator. This article analyzes the characteristics of major-motion hydraulic systems with the aim of proposing a novel hybrid serial–parallel heavy-duty forging manipulator. Kinematic and dynamic models of the major-motion mechanism are developed to investigate the control and comply with performance of hydraulic lifting, pitching, and buffering systems. Simulation shows that the three hydraulic systems are coupled in the position and posture control of the clamp. A separate posture control method based on the characteristic of the major-motion mechanism is designed for the hydraulic systems, and the position tracking performance of the hydraulic systems is studied in a stretching process of a plat-tool.

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11

Virgil Petrescu, Relly Victoria. "Something about a Railbound Forging Manipulator." Journal of Mechatronics and Robotics 3, no. 1 (January 1, 2019): 184–207. http://dx.doi.org/10.3844/jmrsp.2019.184.207.

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12

ZHAO, Kai. "Compliance Process Analysis for Forging Manipulator." Journal of Mechanical Engineering 46, no. 04 (2010): 27. http://dx.doi.org/10.3901/jme.2010.04.027.

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13

Xu, Yundou, and Yongsheng Zhao. "2B21 Kinematic analysis of the lifting mechanism of one forging manipulator." Proceedings of the Symposium on the Motion and Vibration Control 2010 (2010): _2B21–1_—_2B21–7_. http://dx.doi.org/10.1299/jsmemovic.2010._2b21-1_.

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14

Liu, Deshi, Gang Li, and Yonggang Shang. "Dynamic Modeling and Multiobjective Optimization of Forging Manipulator During One Forging Stroke." Mechanics Based Design of Structures and Machines 40, no. 2 (April 2012): 241–52. http://dx.doi.org/10.1080/15397734.2012.666203.

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15

Hu, Jian Ming, Wen Hua Ding, and Hua Deng. "Dynamic Modeling and Analysis of Lifting Mechanism for Forging Manipulator." Applied Mechanics and Materials 278-280 (January 2013): 633–40. http://dx.doi.org/10.4028/www.scientific.net/amm.278-280.633.

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The kinematic and dynamic behaviors of lifting mechanism for a forging manipulator are investigated. The forward kinematic equations are established. Then, based on the modular approach combined with equivalent dynamic ideal, the dynamic equations are deduced. Moreover, all the equations have been verified by the simulation on a virtual prototype with the ADAMS software and the experiments on a forging manipulator. The results show that the calculated values are well in agreement with the real measurements. Finally, both kinematic and dynamic models are analyzed, and it is found that the force produced by the kinetic energy has very weak effect on the results in comparison with the gravity. The results provide the foundation of gripper’s position control in automatic open-die forging process.

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16

Zhang, Pu, Zhenqiang Yao, and Zhengchun Du. "Impedance analysis of forging process and strategy study on compliance for forging manipulator." Chinese Journal of Mechanical Engineering 26, no. 4 (July 2013): 651–58. http://dx.doi.org/10.3901/cjme.2013.04.651.

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17

YANG, Wenyu. "Evaluating and Optimization Method of Forging Manipulator Compliance." Journal of Mechanical Engineering 46, no. 23 (2010): 121. http://dx.doi.org/10.3901/jme.2010.23.121.

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18

XU, Yundou. "Kinematic Analysis of a Typical DDS Forging Manipulator." Journal of Mechanical Engineering 48, no. 03 (2012): 50. http://dx.doi.org/10.3901/jme.2012.03.050.

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19

XU Yun-dou, 许允斗, 滕志程 TENG Zhi-cheng, 梁晶晶 LIANG Jing-jing, 朱为国 ZHU Wei-guo, and 赵永生 ZHAO Yong-sheng. "Mechanism and dynamics of fully decoupled forging manipulator." Optics and Precision Engineering 24, no. 1 (2016): 160–68. http://dx.doi.org/10.3788/ope.20162401.0160.

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20

SUN, Wenjie. "Multiobjective Optimization for the Forging Manipulator Based on the Comprehensive Manipulation Performance Indices." Journal of Mechanical Engineering 50, no. 17 (2014): 52. http://dx.doi.org/10.3901/jme.2014.17.052.

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21

Wolfgarten, Martin, Dirk Rosenstock, Jan Freitag, and Gerhard Hirt. "Experimental and Numerical Investigation on Controlling the Material Flow in Open-Die Forging through Superimposed Manipulator Displacements." Key Engineering Materials 651-653 (July 2015): 272–77. http://dx.doi.org/10.4028/www.scientific.net/kem.651-653.272.

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In the past, different methods have been investigated regarding the production of curved workpieces by open-die forging as a significant demand for open-die forged parts with excellent mechanical properties exists. Current ways to produce curved workpieces by open-die forging have the disadvantages of complex preforms and inflexibility. One alternative approach to realize the production of curved workpieces by open-die forging is to actively control the material flow in open-die forging by superimposed manipulator movements during a forging stroke. Since the currently formed material between the forging dies is in a plastic state during the deformation, the required bending forces can be reduced significantly. This concept is investigated in a first study for the cold-forging of an aluminum alloy by numerical simulation and experiments on laboratory scale. For the process, the bite ratio, height reduction and the intended bending angle were identified as most important process parameters. Both numerical and experimental investigation proved the feasibility of the process principle since the bending forces, moments and the bending work can be reduced significantly.

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22

Zhang, Yi Gong, Hong Hong Yan, Zhi Qi Liu, Jian Li Song, and Yong Tang Li. "Modal Analysis on the Inclined Double-Column and Pre-Stress Combined Frame Structure of the 80MN Rapid Forging Hydraulic Press." Advanced Materials Research 317-319 (August 2011): 484–88. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.484.

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In this paper, the first 80MN rapid forging hydraulic press in China was developed. The inclined double-column and pre-stress combined frame structure and the direct Pump-driven technologies were adopted for the first time in the design of this press. The linkage driving with the full-hydraulic orbital manipulator has been realized. A rapid forging frequency of 75~80 /min and a finishing precision of ±1mm for hot-state forgings can be obtained. The three dimensional full-contact solid model of the double-column combined frame structure of the 80 MN rapid forging hydraulic press has been set up. The modal analysis of the pre-tightened frame has been carried out with the FEM analysis software ANSYS. The first five-order inherent frequencies and the corresponding natural modes have been obtained, the mode shapes of various orders have also been analyzed in detail. It is shown from the research results that the inherent frequency of the frame is larger than the impact frequency. Therefore, resonant vibration of the structure will not occur. The analysis results will have an important significance for the understanding of the dynamic performance of the rapid forging hydraulic press, optimization of the structure design of the press and the decrease of vibration and noise pollution.

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23

Zhai, Fu Gang, Xiang Dong Kong, Chao Ai, and Jie Liu. "Multi-Field Co-Simulation Research on Suspension System of Forging Manipulator Based on Virtual Prototype Technology." Advanced Materials Research 97-101 (March 2010): 3174–78. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.3174.

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Take a certain suspension system of forging manipulator as research object, mechanical system sub-model and hydraulic control system sub-model of suspension system were respectively built by using Pro/E, Mechanism/Pro, ADAMS and AMESim software, and the whole virtual prototype model of suspension system contains mechanical and hydraulic system sub-model was connected by interface module of software collaboration. Based on integrated features of virtual prototype technology, the dynamic and static characteristics of suspension system were researched by the method of multi-field co-simulation and software collaboration. The results can provide certain theoretical significance for designing suspension system of forging manipulator.

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24

FU, Xin. "Hydraulic System Design and Simulation of the Forging Manipulator." Journal of Mechanical Engineering 46, no. 11 (2010): 49. http://dx.doi.org/10.3901/jme.2010.11.049.

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25

FAN, Miaomiao. "Design and Simulation Supportive Platform for Forging Manipulator System." Journal of Mechanical Engineering 46, no. 11 (2010): 76. http://dx.doi.org/10.3901/jme.2010.11.076.

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26

Aversa, Raffaella, Relly Victoria V. Petrescu, Bilal Akash, Ronald B. Bucinell, Juan M. Corchado, Filippo Berto, MirMilad Mirsayar, et al. "Kinematics and Forces to a New Model Forging Manipulator." American Journal of Applied Sciences 14, no. 1 (January 1, 2017): 60–80. http://dx.doi.org/10.3844/ajassp.2017.60.80.

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27

Xu, Yundou, Zhicheng Teng, Jiantao Yao, Yulin Zhou, and Yongsheng Zhao. "Elastodynamic analysis of a novel motion-decoupling forging manipulator." Mechanism and Machine Theory 147 (May 2020): 103771. http://dx.doi.org/10.1016/j.mechmachtheory.2019.103771.

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28

Li, Qun Ming, Dan Gao, and Hua Deng. "Calculation of Contact Forces of Large-Scale Heavy Forging Manipulator Grippers." Key Engineering Materials 419-420 (October 2009): 645–48. http://dx.doi.org/10.4028/www.scientific.net/kem.419-420.645.

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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.

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29

Petrescu, Florian Ion T., Antonio Apicella, Shuhui Li, Guanying Chen, Filippo Berto, Juan M. Corchado, Ronald B. Bucinell, Bilal Akash, Relly Victoria V. Petrescu, and Raffaella Aversa. "Corrigendum: Kinematics and Forces to a New Model Forging Manipulator." American Journal of Applied Sciences 16, no. 3 (March 1, 2019): 117. http://dx.doi.org/10.3844/ajassp.2019.117.

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30

Wang, J., F. Gao, and Y. Zhang. "Adaptive compliance control of a hydraulic manipulator in free forging." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 226, no. 2 (October 5, 2011): 279–89. http://dx.doi.org/10.1177/0954405411417499.

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31

CHEN, Mingsong. "Effects of Forging Manipulator Motion Trajectory on Axial Effective Strain in 300 MW Generator Rotor Forgings." Journal of Mechanical Engineering 46, no. 11 (2010): 9. http://dx.doi.org/10.3901/jme.2010.11.009.

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32

YANG, Jin. "Clamping Device Study of the Approximate Constant Force Output Forging Manipulator." Journal of Mechanical Engineering 53, no. 22 (2017): 50. http://dx.doi.org/10.3901/jme.2017.22.050.

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33

LI, Gang. "Dynamic Behavior of the Forging Manipulator under Large Amplitude Compliance Motion." Journal of Mechanical Engineering 46, no. 11 (2010): 21. http://dx.doi.org/10.3901/jme.2010.11.021.

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34

LIU, Yanyan. "Research of the Chucking Power of the Heavy-loaded Forging Manipulator." Journal of Mechanical Engineering 48, no. 04 (2012): 66. http://dx.doi.org/10.3901/jme.2012.04.066.

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35

RIEDEL, Mirko, Torben WIESE, Arvid HELLMICH, and Steffen IHLENFELDT. "FAST AND COST EFFICIENT MEASURING OF GEOMETRY AND TEMPERATURE FOR OPEN-DIE FORGING." Journal of Machine Engineering 19, no. 3 (September 15, 2019): 83–94. http://dx.doi.org/10.5604/01.3001.0013.4085.

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In open-die forging it is state of the art to use simulation tools for creating forging plans and setpoint values for the forging press and the automated part manipulator. These forging plans define required positions and forces. Therefore, the process can be fully automated. However, even small variations of not considered influence parameters lead to different forging results and thus to a discontinuous process. Influencing factors are, e.g. material parameter deviations, uncertainties in force measurements or variations in the part temperature due to varying environmental conditions. This paper presents an approach for a fully automatic open-die forging process with respect to actual conditions, based on a parallel measurement of the workpiece geometry and temperature and a “process-real-time” adaptation on the controller system. The focus of this work is the development of a measuring strategy and an according sensor setup for the combined temperature and geometry measurement of the workpiece. In addition, the structure, the characteristic features of the components and the beam path of the sensors scanning units are shown. Furthermore, first experimental results for the alignment of the beam path are presented. In the outline, the setup and calibration strategy of the measurement system are stated.

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36

Dai, Min Qiang, Sheng Dun Zhao, and Wei Cai. "Study on the Relationship between Clamping Cylinder and Gripping Mechanism Clamping Force of Forging Manipulator." Applied Mechanics and Materials 251 (December 2012): 147–51. http://dx.doi.org/10.4028/www.scientific.net/amm.251.147.

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The paper firstly built a mode of a forging manipulator gripping mechanism. Then the clamping fore, connecting rod force and clamp arm force of which were calculated by the static analysis function of Pro/Engineer. Finally, conclusions were made based on the results analysis of the data processing which were fitted in MATLAB.

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37

F. Bairamov, Bulat, Artur A. Fardeev, and Albert R. Fardeev. "Mathematical Model of the Controlled Object when Regulating the Working Volume of the Manipulator Pump." International Journal of Engineering & Technology 7, no. 4.36 (December 9, 2018): 1058. http://dx.doi.org/10.14419/ijet.v7i4.36.24953.

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This paper describes the constructed mathematical model of the controlled object of the automated system for controlling the displacement volume of the manipulator pump. The change in pump displacement volume is performed in order to save energy by minimizing the fluid drain through the overflow valve. The use of the considered manipulator is intended in the process of automated supply of blanks to the working area of a press used in forging and hot stamping processes. The reactive forces acting on the moving parts of the mobility modules from the fixed parts of the manipulator are determined. Conversion of the useful power of the pump into the useful power of hydraulic motors is performed. This takes into account the losses using efficiency. An equation describing the mathematical model of the controlled object is obtained. This equation is represented in relative variables. The derivation of this equation and the determination of the reactive forces are made on the basis of the assumption that all transport degrees of freedom are translational. This limitation is caused by the peculiarities of the working area of the press used in technological processes of forging and hot forming of blanks. The working zone is a deep horizontal tunnel, the movement of the working object in which is possible only with translational degrees of freedom.

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38

Fan, Miao Miao, and Yu Shun Fan. "A HLA-Enabling Method in Collaborative Simulation Environment for Complex Product Development." Applied Mechanics and Materials 16-19 (October 2009): 234–38. http://dx.doi.org/10.4028/www.scientific.net/amm.16-19.234.

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HLA-based collaborative simulation is an effective way to integrate different disciplinary models together for the design and development of complex product. In this paper, the HLA-enabling method based on HLA agent model is proposed to make models created through commercial software compatible with HLA standard. Next, a prototype system for forging manipulator system based on such HLA-enabling method is developed accordingly, where an approach of developing ABAQUS engine agent is proposed, which solves the difficulty of wrapping ABAQUS software. Finally, a case study on forging and manipulating process is conducted and verifies the high fidelity and effectiveness of our collaborative simulation technology.

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39

Chen, Kang, Chunxiang Ma, Maoqi Zheng, and Feng Gao. "Optimization and mechanical accuracy reliability of a new type of forging manipulator." Chinese Journal of Mechanical Engineering 28, no. 2 (January 24, 2015): 236–48. http://dx.doi.org/10.3901/cjme.2014.1128.173.

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40

Cheng, Ning Bo, Li Wen Guan, Li Ping Wang, and Jian Han. "Dynamic Parameters Identification for Tong & Tong-Carrier of a Forging Manipulator." Applied Mechanics and Materials 121-126 (October 2011): 2006–10. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.2006.

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This paper deals with the dynamic parameters of the combination of the tong, the tong-carrier and (or without) a forging (link TCF). Two linear form equations of the dynamic model of link TCF about the dynamic parameters are obtained. And then based on two linear form equations, the least square method is adopted to identify the parameters. Simulation results show that the identified dynamic parameters, mass m, moment of inertia IL and the mass center parameter b1, have a small relative error that no more than 5%.

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41

Xiaobing, Chu, Gao Feng, and Ge Hao. "Direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage." Industrial Robot: An International Journal 39, no. 3 (April 27, 2012): 304–11. http://dx.doi.org/10.1108/01439911211217134.

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42

Huang, Shunzhou, Yong Zhao, Hao Wang, and Zhongqin Lin. "Stabilized multi-domain simulation algorithms and their application in simulation platform for forging manipulator." Chinese Journal of Mechanical Engineering 27, no. 1 (January 2014): 92–102. http://dx.doi.org/10.3901/cjme.2014.01.092.

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43

Yan, Changya, Feng Gao, and Yong Zhang. "Kinematic Modeling of a Serial–Parallel Forging Manipulator with Application to Heavy-Duty Manipulations#." Mechanics Based Design of Structures and Machines 38, no. 1 (January 29, 2010): 105–29. http://dx.doi.org/10.1080/15397730903455344.

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My, Chu Anh. "Inverse kinematics of a serial-parallel robot used in hot forging process." Vietnam Journal of Mechanics 38, no. 2 (June 24, 2016): 81–88. http://dx.doi.org/10.15625/0866-7136/38/2/5958.

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In hot extrusion forging process, the use of robot arm for transferring heavy billets can reduce downtime, improve productivity, reduce worker fatigue and optimize the use of~energy and manpower. To increase the stiffness of the robot and force the end-effector move in directions parallel with the ground surface, two parallel links are added to a standard serial manipulator. This modification of the structure could make it a bit of challenge in the system modelling and controlling. This paper addresses the inverse kinematics analysis that is the central issue for developing autonomous control modes of the robot application.

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My, Chu Anh, and Vuong Tien Trung. "Design Analysis for a Special Serial - Parallel Manipulator Transferring Billet for Hot Extrusion Forging Process." Vietnam Journal of Science and Technology 54, no. 4 (August 18, 2016): 545. http://dx.doi.org/10.15625/0866-708x/54/4/6231.

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To reduce the downtime and optimize the use of energy and manpower, a serial - parallel manipulator is designed for transferring heavy billets for a specific hot extrusion forging process. To increase the structural rigidity and restrict the end-effector of the robot moving in direction parallel with the ground surface, parallel links are added in between serial links of the manipulator design. This modification of the structure must be considered in the modeling and analyzing. This paper addresses the kinematic modeling, the kinematic performance analysis and the strength analysis for the robot. With respect to the parallel links, the constraint equation is written and put together with the kinematic model. Based on the model formulated, the inverse kinematic, the transferring time, the reachable workspace, the dexterity, and the manipulability index of the robot are analyzed and discussed to demonstrate its kinematical performance. These results are important to assess the working capability and improve the parametric design for the robot. In addition, for verifying the end-effector design in terms of the strength and displacement, the stress distribution and the static deflection of the end-effector module are computed and analyzed by using the computer-aided finite element method (FEM).

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Nye, T. J., A. M. Elbadan, and G. M. Bone. "Real-Time Process Characterization of Open Die Forging for Adaptive Control." Journal of Engineering Materials and Technology 123, no. 4 (July 24, 2000): 511–16. http://dx.doi.org/10.1115/1.1396350.

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Open die forging is a process in which products are made through repeated, incremental plastic deformations of a workpiece. Typically, the workpiece is held by a manipulator, which can position the workpiece through program control between the dies of a press. The part programs are generated with an empirically derived parameter, called the spread coefficient, whose value is subject to some contention. In this work, we demonstrate how process information can be used in real time to derive the actual spread coefficient for a given workpiece as it is being formed. These measurements and calculations occur in real time, and can be used to regenerate part programs to optimize the forming process, or can be used to adaptively control each incremental deformation of the workpiece.

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Wang, Qi, Hua Deng, and Zhen Xu. "Comparative Simulation Research between Rigid Body and Flexible Body for Double-Gear Parallel Driving Systems." Applied Mechanics and Materials 157-158 (February 2012): 214–19. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.214.

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In this paper , on the platform of Adams ,the model neutral files(MNF) of the double-gear parallel driving system for the forging manipulator were created by utilizing the FEA technology，and its virtual prototype of rigid body and flexible body were established.Through defined same motion and load by step function，dynamic simulation was analyzed.Comparing the results such as angular velocity and gear meshing force of each other，studies suggest that: to treat the transmission system as rigid body can fully meet the research requirement for load balancing.

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GUAN, Liwen. "Inverse Dynamics Modeling and Nonlinear Controller Design of the Similar Model of a Forging Manipulator." Journal of Mechanical Engineering 46, no. 11 (2010): 55. http://dx.doi.org/10.3901/jme.2010.11.055.

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Wolfgarten, Martin, Niklas Reinisch, and Gerhard Hirt. "Analysis of process limits for open-die forging with superimposed manipulator displacements in vertical direction." Production Engineering 13, no. 6 (September 26, 2019): 685–92. http://dx.doi.org/10.1007/s11740-019-00918-y.

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Li, Gang, Wenjie Sun, and Deshi Liu. "Investigation of the dynamic bending moment transmitted to the forging manipulator due to press motion." Journal of Mechanical Science and Technology 27, no. 8 (August 2013): 2435–43. http://dx.doi.org/10.1007/s12206-013-0629-2.

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