DocumentCode
3346788
Title
Comparative analysis of two typical mechanisms of forging manipulator
Author
Yundou, Xu ; Yongsheng, Zhao
Author_Institution
Parallel Robot & Mechatron. Syst. Lab., Yanshan Univ., Qinhuangdao, China
fYear
2010
fDate
26-28 June 2010
Firstpage
2314
Lastpage
2317
Abstract
Kinematics and statics of two typical mechanisms of forging manipulator are analyzed based on mechanism theories and the principle of virtual work in this paper. The biggest driving forces/torques that each hydraulic cylinder need of both mechanisms are compared. Consequently, a better mechanism of forging manipulator is chosen.
Keywords
force control; forging; industrial manipulators; manipulator kinematics; torque control; driving forces; driving torques; forging manipulator; manipulator kinematics; manipulator statics; typical mechanisms; virtual work principle; Grippers; Jacobian matrices; Kinematics; Laboratories; Manipulators; Manufacturing processes; Mechatronics; Motion analysis; Parallel robots; Production; Jacobian matrix; comparative analysis; forging manipulator; the principle of virtual work;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-7737-1
Type
conf
DOI
10.1109/MACE.2010.5535467
Filename
5535467
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