基于G_F集的锻造操作机构型方法

Type Synthesis for Forging Manipulators Based on G_F Set

为了发展新型锻造操作机,提出基于G_F集的锻造操作机构型方法及其构型法则。阐述一种包含移动项和转动项且转动项转动轴线交于一点的特殊集合G_F集的概念及构型特点:研究G_F集中移动项对转动项转动轴线位置的影响,提出并证明了移动对转动轴线位置影响定理,基于此定理定义了G_F集的求和与求交的运算法则;将锻造操作机要求实现的运动分解为由钳杆提升、俯仰和沿操作机前进方向的运动组成的主运动以及由操作机侧移和侧摆组成的次运动两部分,从这两部分的运动入手,采用G_F集方法构造出一系列锻造操作机。从锻造操作机的构型过程来看G_F集方法是一种直观的构型方法,该方法为锻造操作机构型提供了一种新思路。

In order to develop new type of forging manipulators, the method and principle of type synthesis for forging manipulators based on GF set is proposed. The concept and characteristics of CF set, which contains translational item and rotational item that rotational axes are intersects at one point, is introduced. The influence of translational item on rotational axis is studied. The theorem of rotational axis position subjected to the translation is presented and proved. Then the union and intersection rules for GF set based on the theorem are proposed. The motions of forging manipulator are decomposed into main motions which include lifting, pitching, and the translation about the forward direction of forging manipulator, and secondary motions which include yawing and lateral motion. According to the two kinds of motions and GF set, serials of forging manipulators are proposed. From the type synthesis procedure of forging manipulator perspective, the method with GF set is an intuitive approach that provides a novel method for type synthesis of forging manipulators.