Performance comparison of major-motion mechanisms of three forging manipulators

Abstract A novel major-motion mechanism of forging manipulators is developed using a basic module mechanism combination method. Composed of one 4/1 module mechanism and two 6/1–1 module mechanisms, this major-motion mechanism can realize the lifting, horizontal translation and pitching of the gripper required by forging manipulators. Based on an algorithm module, algorithm flowcharts of the forward and inverse kinematics of the proposed novel major-motion mechanism, the Dango & Dienenthal major-motion mechanism, and the Schloemann-Siemag AG Meer major-motion mechanism are established. Based on the flowcharts, the gripper trajectories of the three major-motion mechanisms in the process of lifting, horizontal translation and pitching are obtained. Then, the maximum lifting deviations of the three major-motion mechanisms are acquired. Moreover, the anti-toppling stabilities of the three major-motion mechanisms are respectively obtained according to an anti-toppling stability function. Furthermore, when the ultimate bearing value of the driver is given, the changing trends of the bearing capacities of the three major-motion mechanisms are obtained via the proportional coefficient method. Our research provides an important theoretical basis for the development and design of novel major-motion mechanisms.

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