燕山大学学报2011，Vol.35Issue(3)：198-202,5.DOI:10.3969/j.issn.1007-791X.2011.03.002
锻造操作机夹钳平行升降机构运动学特性分析
Research on kinematics characteristics of parallel lifting mechanism of forging manipulator tongs
摘要
Abstract
To analyze the kinematics characteristics of forging manipulator mechanical system and study the movement rules of each actuator, it is premise to achieve precise control of its position. The mechanism characteristics and kinematics characteristics of tongs lifting mechanisms of forging manipulator are studied. The rules that the position and orientation of tongs following with the actuator are analyzed. The inverse kinematics of tongs lifting mechanism are obtained. With the specific structural parameters of forging manipulator, the accuracy of the extreme approximate formula is analyzed, and the high-order equation approximate formula method is proposed and the quadratic approximation formula is given. The results have certain significance in control piston of forging manipulator.关键词
锻造操作机；夹钳升降机构；运动学特性Key words
forging manipulator/ tongs lifting mechanism/ kinematics characteristics分类
机械制造引用本文复制引用
孔祥东,翟富刚,张杨,庞逢祥,陈赞..锻造操作机夹钳平行升降机构运动学特性分析[J].燕山大学学报,2011,35(3):198-202,5.基金项目
河北省自然科学基金资助项目(E2010001224) （E2010001224）
