Kinematic Modeling of a Serial–Parallel Forging Manipulator with Application to Heavy-Duty Manipulations#

Abstract

Heavy-duty forging manipulators are essential handling equipments for integrated open-die forging plants. This article presents a forging manipulator with serial–parallel hybrid mechanism and develops its closed-form kinematic solutions (inverse and direct) based on the detailed geometric description of the mechanism. The kinematic Jacobian matrix is also derived analytically. Case studies for kinematical simulation, workspace, and kinetostatic analysis are conducted throughout the developing process. The closed-form kinematic solution provides the foundation of simulation and control design, and the results of case studies demonstrate the special features of the proposed mechanism in load capacity and compliant manipulation ability for heavy tasks in automatic open-die forging processes.