为了实现锻造操作机升降运动与水平移动之间的解耦, 提出了一种从结构组成原理上实现解耦的锻造操作机机构, 并对该机构的运动机理和动力学性能进行了研究与实验验证。首先, 基于Hoekens四连杆机构介绍了完全解耦式锻造操作机的结构组成原理; 运用螺旋理论工具分析了完全解耦式操作机机构的自由度, 对其升降运动和水平移动之间的解耦机理进行了剖析。然后, 基于虚功原理建立了操作机机构动力学模型, 比较分析了该解耦式操作机机构和典型平行连杆式操作机机构在升降运动和锻造加工过程中的受力性能。最后, 研制了该新型解耦式操作机的比例实验模型, 采用激光跟踪仪测试了钳杆在升降过程中的水平位移变化量。实验结果表明: 在升降运动过程中, 钳杆在水平方向的位移变化量在1 mm之内, 基本上验证了该完全解耦式锻造操作机能够实现升降运动与水平移动之间的解耦。

To achieve the decoupling between the lifting movement and the horizontal movement of a forging manipulator, a kind of manipulator mechanism to achieve the decoupling was presented based on the structural composition principle, and the motion mechanism and the dynamic performance were studied and verified by experiments. Firstly, the composition principle of a fully decoupled forging manipulator was introduced based on the Hoekens four-bar mechanism. The degree of freedom of the fully decoupled forging manipulator was analyzed by using the screw theory, and the decoupling mechanism between the lifting movement and horizontal movement was also dissected. Then the dynamic model was established by using the principle of virtual work. The mechanical behavior between the new mechanism of forging manipulator and the typical parallel-link one was compared and analyzed in the lifting movement and the forging process. Finally, an experimental model of the new forging manipulator mechanism with ratio 1/20 was developed to verify its decoupling performance. Experimental results indicate that during the lifting movement, the displacement variation of the gripper carrier in the horizontal direction remains within 1 mm, which basically verifies that the fully decoupled forging manipulator mechanism achieves the decoupling between the lifting movement and the horizontal movement.