Optimum Design of the Jaw Clamping Mechanism of Forging Manipulators Based on Force Transmissibility
In this paper, the jaw clamping mechanism of a forging manipulator is regarded as a slider-crank mechanism. First, the force Jacobian matrix of the mechanism is obtained according to the dual relationship of velocity Jacobian matrix and force Jacobian matrix. Then, the performance atlases of the global force transmission index and the input space index that represents the motion range of the jaw are drawn with different inputs for the mechanisms of the nondimensional parameters. Furthermore, we research the effect of these structure parameters of the mechanism on the gripping force transmission and input space, and find an optimal range in the force transmission atlas. Finally, we synthesize a detail optimal flowchart of the jaw clamping mechanism of forging manipulators based on force transmissibility. A jaw clamping mechanism of a forging manipulator is studied as an example, and results show that the method presented in this paper is effective for finding an optimal gripper mechanism. The research in this paper can be served as fundamentals of design and optimization of the jaw clamping mechanism of forging manipulators.
Forging manipulator Motion/force transmissibility Optimum design Jaw clamping mechanism
WenHua DING Hua DENG Yi Zhang Yaoqing Ren
School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083,China
国际会议
2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)
香港
英文
737-742
2011-12-27（万方平台首次上网日期，不代表论文的发表时间）