Abstract The forging manipulator is a complex industrial robot with a spatial serial-parallel hybrid structure and multiple degrees of freedom, and the decoupling ability among different motions is a critical performance index for it. A novel kind mechanism of forging manipulator that can achieve decoupling between lifting and horizontal buffering motions was proposed, by integrating the improved Hoeckens straight-line mechanism with the buffering mechanism. It is easy to realize motion control of such forging manipulator, which indicates that it has potential application prospects. Considering the motion-decoupling characteristics as well as the practical working conditions, the whole architecture of this novel forging manipulator was divided into three independent single-degree-of-freedom sub-mechanisms. Then, with the elastic deformations of each component taken into consideration, the elastodynamic model of each sub-mechanism based on the finite element theory and the KED (Kineto-Elastodynamic) analysis was established for more accurate dynamic responses. The Newmark stepwise integration method was used to solve the elastodynamic equations, and the response characteristics of displacement, velocity, and acceleration of the manipulator were obtained, providing important theoretical references for further optimization designs and practical applications of this novel mechanism for forging manipulators.

中文翻译：

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一种新型运动解耦锻造机械手的弹动力学分析

摘要 锻压机械手是一种空间串并联混合结构、多自由度的复杂工业机器人，不同运动间的解耦能力是其关键的性能指标。将改进的Hoeckens直线机构与缓冲机构相结合，提出了一种新型的锻压机械手机构，可实现提升与水平缓冲运动的解耦。这种锻造机械手易于实现运动控制，具有潜在的应用前景。考虑到运动解耦特性以及实际工况，这种新型锻造机械手的整体架构被分为三个独立的单自由度子机构。然后，考虑到各部件的弹性变形，基于有限元理论和KED（Kineto-Elastodynamic）分析建立了各子机构的弹性动力学模型，以获得更准确的动态响应。采用Newmark逐步积分法求解弹动力方程，得到机械手位移、速度、加速度的响应特性，为该新型锻压机械手机构的进一步优化设计和实际应用提供了重要的理论参考。