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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August 2014
Technical Briefs
Conceptual Design of an Exactly Straight Lifting Forging Manipulator
Huafeng Ding,
Huafeng Ding
1
Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
Parallel Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
State Key Laboratory of Mechanical System and Vibration,
e-mail: dhf@ysu.edu.cn
Shanghai Jiao Tong University
,Shanghai 200240
, China
e-mail: dhf@ysu.edu.cn
1Corresponding author.
Search for other works by this author on:
Zemin Feng,
Zemin Feng
Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
e-mail: fengzemin1987@ysu.edu.cn
Parallel Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
e-mail: fengzemin1987@ysu.edu.cn
Search for other works by this author on:
Hongye Fu,
Hongye Fu
Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
e-mail: fhy1127@126.com
Parallel Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
e-mail: fhy1127@126.com
Search for other works by this author on:
Yuanyuan Wang
Yuanyuan Wang
Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
e-mail: wyuan2011@163.com
Parallel Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
e-mail: wyuan2011@163.com
Search for other works by this author on:
Huafeng Ding
Hebei Provincial Key Laboratory of
Parallel Robot and Mechatronic System,
Parallel Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
State Key Laboratory of Mechanical System and Vibration,
e-mail: dhf@ysu.edu.cn
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,
e-mail: fengzemin1987@ysu.edu.cn
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,
e-mail: fhy1127@126.com
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,
e-mail: wyuan2011@163.com
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. Aug 2014, 6(3): 034502 (4 pages)
Published Online: May 12, 2014
Article history
Received:
September 15, 2013
Revision Received:
March 14, 2014
Citation
Ding, H., Feng, Z., Fu, H., and Wang, Y. (May 12, 2014). "Conceptual Design of an Exactly Straight Lifting Forging Manipulator." ASME. J. Mechanisms Robotics. August 2014; 6(3): 034502. https://doi.org/10.1115/1.4027238
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