Abstract
In this paper, a number of kinematics problems of a heavy-duty forging manipulator are studied. The closed-form inverse and forward kinematic equations are established. Secondly, based on hierarchical modeling idea, velocity and acceleration analytical equation are deduced. Finally, all the kinematic equations are validated on a virtual prototype with the ADAMS software package. An interesting result is found that there exits only a weak coupling between main motions of the manipulator, which is very valuable for the decoupling controller design of the manipulator in further study. The researches in this paper aim at motion planning and automation for the heavy-duty manipulator in an integrated open-die forging centre.
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© 2012 Springer-Verlag Berlin Heidelberg
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Ding, W., Deng, H., Hu, J. (2012). Kinematic Modeling of a Heavy-Duty Forging Manipulator. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_30
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DOI: https://doi.org/10.1007/978-3-642-33503-7_30
Publisher Name: Springer, Berlin, Heidelberg
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