Kinematics at the Main Mechanism of a Railbound Forging Manipulator
Article Sidebar
Main Article Content
صندلی اداریAbstract
Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationship between outputs and inputs will greatly influence 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 we analyze the general kinematics of the main mechanism from a 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. The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed. These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators.
Downloads
Article Details
1. Proposal of Policy for Free Access Periodics
Authors whom publish in this magazine should agree to the following terms:
a. Authors should keep the copyrights and grant to the magazine the right of the first publication, with the work simultaneously permitted under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 that allows the sharing of the work with recognition of the authorship of the work and initial publication in this magazine.
b. Authors should have authorization for assuming additional contracts separately, for non-exclusive distribution of the version of the work published in this magazine (e.g.: to publish in an institutional repository or as book chapter), with recognition of authorship and initial publication in this magazine.
c. Authors should have permission and should be stimulated to publish and to distribute its work online (e.g.: in institutional repositories or its personal page) to any point before or during the publishing process, since this can generate productive alterations, as well as increasing the impact and the citation of the published work (See The Effect of Free Access).
Proposal of Policy for Periodic that offer Postponed Free Access
Authors whom publish in this magazine should agree to the following terms:
a. Authors should keep the copyrights and grant to the magazine the right of the first publication, with the work simultaneously permitted under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 [SPECIFY TIME HERE] after the publication, allowing the sharing of the work with recognition of the authorship of the work and initial publication in this magazine.
b. Authors should have authorization for assuming additional contracts separately, for non-exclusive distribution of the version of the work published in this magazine (e.g.: to publish in institutional repository or as book chapter), with recognition of authorship and initial publication in this magazine.
c. Authors should have permission and should be stimulated to publish and to distribute its work online (e.g.: in institutional repositories or its personal page) to any point before or during the publishing process, since this can generate productive alterations, as well as increasing the impact and the citation of the published work (See The Effect of Free Access).
d. They allow some kind of open dissemination. Authors can disseminate their articles in open access, but with specific conditions imposed by the editor that are related to:
Version of the article that can be deposited in the repository:
Pre-print: before being reviewed by pairs.
Post-print: once reviewed by pairs, which can be:
The version of the author that has been accepted for publication.
The editor's version, that is, the article published in the magazine.
At which point the article can be made accessible in an open manner: before it is published in the magazine, immediately afterwards or if a period of seizure is required, which can range from six months to several years.
Where to leave open: on the author's personal web page, only departmental websites, the repository of the institution, the file of the research funding agency, among others.
References
GAO, F.; GUO, W. Z. (2009) Coordinated kinematic modeling for motion planning of heavy-duty manipulators in an integrated open-die forging center, Journal of Engineering Manufacture, v. 223, n. 10, p. 1299-1313.
GAO, F.; GUO, W. Z.; SONG, Q. Y.; DU, F. S. (2010) Current Development of Heavy-duty Manufacturing Equipment, Journal of Mechanical Engineering, v. 46, n. 19, p. 92-107.
GE, H.; GAO, F. (2012) Type Design for Heavy-payload Forging Manipulators, Chinese Journal of Mechanical Engineering, v. 25, n. 2, p. 197-205.
LI, G.; LIU, D. S. (2010) Dynamic Behavior of the Forging Manipulator under Large Amplitude Compliance Motion, Journal of Mechanical Engineering, v. 46, n. 11, p. 21-28.
PETRESCU, F. I.; PETRESCU, R. V. (2013) Cinematics of the 3R Dyad, in journal Engevista, v. 15, n. 2, p. 118-124, August, ISSN 1415-7314. Available from: http://www.uff.br/engevista/seer/index.php/engevista/article/view/376.
PETRESCU, F. I.; PETRESCU, R. V. (2012) Kinematics of the Planar Quadrilateral Mechanism, in journal Engevista, v. 14, n. 3, p. 345-348, December, ISSN 1415-7314. Available from: http://www.uff.br/engevista/seer/index.php/engevista/article/view/377.
PETERSCU, F. I.; PETERSCU, R. V. (2012) Mecatronica – Sisteme Seriale si Paralele, Create Space publisher, USA, March, ISBN 978-1-4750-6613-5, 128 pages, Romanian edition.
PETRESCU, F. I.; PETERSCU, R. V (2011) Mechanical Systems, Serial and Parallel – Course (in romanian), LULU Publisher, London, UK, February, 124 pages, ISBN 978-1-4466-0039-9, Romanian edition.
PETRESCU, F. I.; GRECU, B.; COMANESCU, A.; PETRESCU, R. V. (2009) Some Mechanical Design Elements. In the 3rd International Conference on Computational Mechanics and Virtual Engineering, COMEC 2009, Braşov, October, ISBN 978-973-598-572-1, Edit. UTB, p. 520-525.
PETRESCU, F. I. (2014) Sisteme mecatronice seriale, paralele și mixte. Create Space publisher, USA, February, ISBN 978-1-4959-2381-4, 224 pages, Romanian edition.
ZHAO, K.; WANG, H.; CHEN, G. L.; LIN, Z. Q.; HE, Y. B. (2010) Compliance Process Analysis for Forging Manipulator, Journal of Mechanical Engineering, v. 46, n. 4, p. 27-34.