Abstract
Heavy forging manipulators,co-operating with presses,are used to increase the manufacturing capacity and material utilization of forging systems and reduce the energy consumption. The manipulation performances are fundamental for design of forging process,and also the objectives of optimization of mechanism design. The main manipulation performances of heavy manipulators,i.e. kinematic and dynamic dexterity,force bearing capability and stiffness performance are analyzed. The approach followed here is based on the ellipsoids of kinematic,dynamic and force manipulability,which are extended to stiffness ellipsoid. And in response to characteristics of heavy manipulation on the directional property of force capabilities and stiffness,effective manipulating force index(EMFI) and stiffness direction index(SDI) ,are presented to assess the force and stiffness performances. By means of screw theory,the Jacobian matrices and the dynamic models of two typical manipulators are calculated at three configurations. And the performances of these manipulators are compared for the further investigations on mechanism design and optimization.
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