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| Analysis of dynamic force transmitted to the forging manipulator clamping a slender workpiece during the compliance motion |
| Received:March 04, 2011 Revised:October 15, 2011 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20123002 |
| KeyWord:forging manipulator manufacturing system transient response passive compliance |
| Author | Institution |
| 李刚 |
大连理工学学 工程力学系 工业装备结构分析国家重点实验室, 大连 |
| 刘德时 |
大连理工学学 工程力学系 工业装备结构分析国家重点实验室, 大连 |
| 孙文杰 |
大连理工学学 工程力学系 工业装备结构分析国家重点实验室, 大连 |
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| Abstract: |
| The dynamic force transmitted to the forging manipulator clamping a slender workpiece during the compliance motion is investigated.The dynamic equation of the forging manipulator system is established including the manipulator and the workpiece by using Lagrange equation and finite element method.The system is modeled as an Euler-Bernoulli beam with spring-mass at a sliding end,which experiences a transient vibration due to the displacement excitement of the node on the beam during the compliance motion.The results of the dynamic model are compared with the simulation results of explicit dynamic finite element program LS-DYNA,good agreements could be observed.Results show that the position where the press works along the slender workpiece plays a crucial role for the dynamic force transmitted to the manipulator. |