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Heavy forging manipulator clamping device clamping contact force Modeling and Optimization

Author: GaoDan
Tutor: LiQunMing
School: Central South University
Course: Mechanical Manufacturing and Automation
Keywords: Giant heavy forging manipulator Clamping mechanism Contact force Friction point contact Force-closure Lagrange multiplier method Linear constraint gradient flow method
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 179
Quote: 4
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Abstract


In modern industry, the production process of mechanization and automation has become a prominent theme. Forging operation in the forging industry in the application can further play forging equipment production capacity, especially for large forgings, use it instead of manual operation can reduce labor intensity and improve working conditions. Clamping mechanism is forging manipulator actuators, forging manipulator is to determine the carrying capacity and stable line, one of the components important to safety, while the jaw clamping mechanism forging contacts with the state but also affect the stability of the main holding factor. In this paper, detailed understanding of existing domestic forging exercise machine basic structure and stable clamping device clamping principle, based on the contact between the jaw and the role of forging is equivalent to the friction point contact model, combined with heavy clamping contacts the characteristics of the dynamic process is equivalent to the contact point of gripping position of the search, and using a linear gradient flow constraint method to achieve the jaw force optimization, for calculating and comparing conventional forging operation of clamping the clamping mechanism The method of force and the driving force, this contact force to establish optimal jaw clamping force calculation model is not limited to some particular location, but can be applied to any position in the case of the jaws, and the contact force using the optimization algorithm computationally efficient, especially suitable for dynamic contact force gripping real-time process optimization. Specific studies and results are as follows: (1) the use of force spinor theory, combining power equivalence principle, the establishment of the jaw clamping mechanism friction point contact with forgings mechanical analysis mathematical model, using the model calculates clamp jaws are in any position mouth contact force and gripping driving force. (2) using stable clamping force closure principle, using Lagrange multiplier method to nonlinear friction cone constraints simplified linear constrained optimization problems, search for any location required minimum contact force and driving power to determine the position of the contact point of contact with point. (3) determining the contact point for any position of the contact force to optimize the use of such BUSS dexterous hand side in the results, the constrained nonlinear friction cone equivalent for positive definite symmetric matrix, and then with a linear gradient constraint Flow Method Optimization of the contact force, the contact point to obtain the minimum contact force. (4) the use of multi-body dynamics simulation software ADAMS gripping the dynamic contact force during operation characteristics are simulated and compared with the experimental data analysis, validation of the contact force optimization model is feasible.

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