Transactions of Materials and Heat Treatment

Title：Key parameters on suspension system for parallel linkforging manipulator

Authors： Wang Zhiqiang1 Liu Yanyan1 Zhang Qiliang1 He Qigong2

Unit： 1.School of Mechanical Engineering Lanzhou Jiaotong University 2.Lanzhou LS Energy Equipment Engineering Research Co. Ltd.

KeyWords： parallel link type forging manipulator suspension system main movement mechanism parameters end-effector

ClassificationCode：TG315

year,vol(issue):pagenumber：2022,47(6):179-185

Abstract：

Aiming at the problem that the basis for determining the key parameters of suspension system for parallel link-forging manipulator was not perfect, based on the output state of end-effector for forging manipulator, combined with the actual working conditions, the overall structure of suspension system was divided into horizontal lifting, tilting and buffering mechanisms, corresponding to horizontal lifting, tilting and buffering movements, and the extreme working conditions were taken as the constraint conditions for determination of mechanism parameters by analyzing the motion trajectory and stress state under each movement. Then, the influence factors for each mechanism were identified, and the relevant parameters were determined. Furthermore, according to the above research ideas, the suspension system of 30 t manipulator was theoretically analyzed and calculated, and the similar equipment in use was compared and analyzed. The results show that the suspension system of 30 t manipulator reduces energy consumption, slows down the load of front swiveling arm and absorbs vibration and shock better, which verifies the feasibility and practicability of research result and provides a feasible idea and method for the structural design and theoretical research of suspension system for forging manipulator.

Funds：

国家自然科学基金资助项目(51265022)

王志强(1994-)，男，硕士研究生 E-mail：1986523260@qq.com 通信作者：刘艳妍(1964-），女，学士，教授 E-mail：liuyy@mail.lzjtu.cn

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