摘要

锻造操作机结构复杂，集合了机械、液压和电控三大技术，是具有多个自由度的重载机器人，能夹持运送大型锻件。本文设计了一款小型并联机构摆移式锻造操作机，主要工作内容如下：

（1）根据设计要求和功能需求，进行功能分解，对多种设计方案进行分析比较，确定了总体设计方案，创新设计了一款前侧移缸下置的摆移式锻造操作机。

（2）对主运动机构进行了运动学理论分析计算，用复数矢量法完成了位置正反解分析计算，并用ADAMS软件完成了正逆运动学的仿真验证。

（3）基于螺旋理论分析了空间并联机构的自由度性质问题，并用ADAMS软件进行了分析验证。

（4）对锻造操作机的结构进行了详细设计和相关计算，完成了各个驱动液压缸的计算和选型。并用ADAMS软件仿真分析了夹钳机构的动态夹紧过程及优化了各杆件的尺寸。

（5）对关键零部件进行了校核计算，包括轴、轴承、键、螺栓组等的强度校核。

（6）用Pro/E软件完成了锻造操作机的三维建模和运动仿真分析，完成了整机布局图、二维装配图及重要零部件的二维工程图的绘制。

关键词：锻造操作机；并联机构；主运动机构；夹钳机构；运动学分析；仿真验证

Abstract

窗体顶端

Forging manipulator, with the complex structure, is the overloaded robot with multiple degrees of freedom, which collects the machinery, hydraulic and electric control technology. It can transport heavy forged pieces. A small-scale forging manipulator with parallel mechanism will be studied in this paper. The main research contents are as follows:
    (1) According to the actual functional requirements, the function of forging manipulator has been decomposed. By comparing and analyzing various schemes, the overall principal design of forging manipulator has been completed. A new pendulum move type forging manipulator with the forward moving hydraulic cylinder installed lower has been creatively designed.
    (2) The kinematics analysis and calculation of the the main movement mechanism has been completed. Based on the plural vector method, the analysis and calculation of the forward and inverse position solution has been completed. The forward and inverse kinematics simulation were done with ADAMS software.
    (3) Based on the screw theory, this paper analyzed the degree of freedom of the spatial parallel mechanism and verified this problem by means of ADAMS.
    (4) The detailed structure design and relevant calculation of forging manipulator has been completed, including the calculation and selection of the driving hydraulic cylinder. This paper used ADAMS to simulate the dynamic clamping process of clamp mechanism and optimize the size of each bar.
    (5) The key parts, including shaft, bearing, key and bolt group, has been checked.
    (6) I have modeled the forging manipulator and simulated the working process of forging manipulator by means of Pro/E. Also, I have completed the overall layout drawing, assembly drawing and the important parts of two-dimensional engineering graphics.

Key words: forging manipulator; parallel mechanism; main motion mechanism; clamping mechanism; kinematic analysis; simulation verification

锻造操作机设计【说明书、CAD图纸、答辩PPT】

毕业季

摘要

Abstract

目录

锻造操作机设计【说明书、CAD图纸、答辩PPT】

毕业季

摘 要

Abstract

目 录

摘要

目录