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
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;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5535467
