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Performance Analysis of a Forging Manipulator Based on the Composite Modeling Method

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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Abstract

This paper presents the performance analysis of one type of forging manipulator based on a new approach for the calculation of Jacobian matrices. The Jacobian matrix based evaluation criterions in robotics literature are studied to characterize the kinematic and dynamic manipulability, as well as the force capability of the studied manipulator. The performance measures with respect to the joint space are illustrated to describe the kinematic and dynamic capability of the manipulator intuitively. The ellipses at the best condition points are obtained. The research in this paper can be served as fundamentals of design and optimization of forging manipulators, and predict the best work conditions.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Genliang Chen, Hao Wang & Zhongqin Lin

  2. BaoSteel Group Co. Ltd., Shanghai, China

    Guimin Liu

Authors
  1. Genliang Chen
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  2. Hao Wang
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  3. Zhongqin Lin
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  4. Guimin Liu
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Chen, G., Wang, H., Lin, Z., Liu, G. (2008). Performance Analysis of a Forging Manipulator Based on the Composite Modeling Method. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_17

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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