Mechanism Synthesis for Forging Manipulators Based on End Task Characteristics

According to the characteristics of forging manipulator’s end movement and the output correlation, the type synthesis tasks were divided into three groups, the mechanism motion output matrix was built, the single ordered opened chain was taken as a design objective, and the structure synthesis of the main motion mechanism was carried out.Then the characteristics of the three groups were integated based on the whole system and the extreme service environment of forging manipulator, and finally a lot of kinds of manipulators’ complete configurations were integrated. The input and output corelational characteristics of some mechanisms and control decouping were studied. The results show that some new configurations are superior to the typical configurations for the control decouping.