Composite Simulation On A Novel 2-DoF Planar Parallel Forging Machine

Complex mechanical systems such as numerical control machine, operating robot, large forging machine have a lot of motion parts, and also with the obvious features of modularity and hierarchy. Thus the concept of“model reuse and system reconfiguration”becomes the tendency of modeling and simulation method for complex mechanical system. Existing mechanical kinematics and dynamics do not fully adapt to the features mentioned and can’t support model reuse. The target of this thesis is to use the composite method of“model reuse and system reconfiguration”in simulation field for reference to build up the composite method of modeling on planar mechanical system special for its features, solve the model reuse and system reconfiguration problems for modeling on planar mechanical system according to topology, bring forward a newly designed free-forging machine using 2-DoF five-bar mechanism, use the composite modeling method to do kinematics and dynamics analysis, and finally demonstrate the result utilizing VR technology. Firstly, according to the mechanism topology and system configuration, the system is divided into modeling cells including driving parts and Assur Group and using the state space method to describe the mathematic model of kinematics and dynamics. Matlab/ Simulink platform is then used for modeling. Secondly, a new type of forging machine is designed using 2-DoF five-bar mechanism. The machine has a translational input for the purpose of using hydraulic system. The hammer of this machine can realize not only vertical forging operation like conventional forging machine, but also forging with different angles in motion plane. The new designed machine can forge the workpiece from different directions, which is useful for cutting down the operating times and improving the efficiency.Thirdly, composite modeling method is used to do kinematics and dynamics analysis. Forward and backward kinematics solution is used to obtain input and output regularity. After the resistance during forging is simulated and worked out using the Deform 3D, Inverse dynamic simulations are also implemented. The basic modeling cells are called repeatly during simulations, which show the applicability of this modeling method.Lastly, VRML virtual reality platform is used to demonstrate the working process of the machine, which proves the feasibility of this forging machine.