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Technical Brief

Conceptual Design of an Exactly Straight Lifting Forging Manipulator

[+] Author and Article Information
Huafeng Ding

Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
State Key Laboratory of Mechanical System and Vibration,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: dhf@ysu.edu.cn

Zemin Feng

Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
e-mail: fengzemin1987@ysu.edu.cn

Hongye Fu

Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
e-mail: fhy1127@126.com

Yuanyuan Wang

Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
e-mail: wyuan2011@163.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 15, 2013; final manuscript received March 14, 2014; published online May 12, 2014. Assoc. Editor: Andrew P. Murray.

J. Mechanisms Robotics 6(3), 034502 (May 12, 2014) (4 pages) Paper No: JMR-13-1181; doi: 10.1115/1.4027238 History: Received September 15, 2013; Revised March 14, 2014

The gripper lifting track of a forging manipulator should keep as close to a straight line as possible, especially for the manufacturing of long or high-precision forged pieces. However, the lifting tracks of most forging manipulators are arc, such as DANGO & DIENENTHAL in Siegen (DDS) and Schloemann-SiemagAG Meer (SMS Meer). This paper proposes a new forging manipulator whose gripper lifting track is exactly a straight line. First, a planar 3-degrees-of-freedom (3-DOF) mechanism whose gripper moves along a straight line is proposed. Second, replace the lifting drive of the planar mechanism with a parallel mechanism which only generates one translation, and obtain a major-motion mechanism. Finally, a new forging manipulator is constructed based on this major-motion mechanism. The new manipulator has the advantages of exactly straight lifting, high load-bearing capacity, and decoupling the lifting from other motions. It not only can improve forging precision for long axial forged pieces but also make coordinated control of two forging manipulators much easier.

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References

Figures

Grahic Jump Location
Fig. 1

Motion requirement for the gripper

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Fig. 2

The design process of the straight-line lifting mechanisms

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Fig. 3

A planar straight lifting mechanism

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Fig. 4

A parallel lifting mechanism

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Fig. 5

Analysis of the left limb

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Fig. 6

The constraint forces and couples acting on the moving platform

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Fig. 7

A major-motion mechanism

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Fig. 8

The straight lifting forging manipulator, (a) the lowest point A, (b) the middle point B, and (c) the highest point C

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Fig. 9

The different lifting positions of the gripper

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Fig. 10

The curves of the gripper position

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