Kinematic modeling of a heavy-duty forging manipulator

Abstract

In this paper, a number of kinematics problems of a heavy-duty forging manipulator are studied. The closed-form inverse and forward kinematic equations are established. Secondly, based on hierarchical modeling idea, velocity and acceleration analytical equation are deduced. Finally, all the kinematic equations are validated on a virtual prototype with the ADAMS software package. An interesting result is found that there exits only a weak coupling between main motions of the manipulator, which is very valuable for the decoupling controller design of the manipulator in further study. The researches in this paper aim at motion planning and automation for the heavy-duty manipulator in an integrated open-die forging centre. © Springer-Verlag Berlin Heidelberg 2012.