The Research on Characteristics of Movement Coupling in Forging Manipulator

摘要：

　　Heavy-duty forging manipulators play an important role in extreme manufacturing.Based on the kinematic model of DDS forcing manipulator,the input-output relation equations in terms of position are derived.According to the actually movement path of output mechanism,a new decoupling concept is defined as to forcing manipulator.The input-output relation matrices in terms of velocity are established at three major motions,and the coupling characteristics of mechanism are analyzed.At last,the theory analysis is proved correct by experimental verification.The results show that three major motion mechanisms of DDS forcing manipulator are partially decoupled under the new decoupling concept compared with the conventional one,which helps to simplify the control strategy of DDS forcing manipulator.

关键词： Forging Manipulator Relation Matrix Movement Coupling Major Motion

作者: Jing Fei He Chao Xu Hua Deng Long Han

作者单位: College of Mechanical and Electrical Engineering,Central South University,Changsha,410083,China;National Key Laboratory of High performance and Complex Manufacturing,Central South University,Changsha,410083,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 648-652

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）