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

摘要

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.