The Dynamic Behavior of the Elevation Movement Mechanism of One Transfer Manipulator with Electro-Hydraulic Acting

Abstract

The paper presents the results following the theoretical research of one vertical elevation mechanism regarding the dynamic behavior for one modern transfer systems, a manipulator or robot in cylindrical co-ordinates, which belongs to a molding technological module based on the hydraulic presses. Using the mathematical modeling and the computer simulation, it can identify the parameters with sensitive behavior and, finally, it can optimize the dynamic regimes according to the real requests of driving.

The Dynamic Behavior of the Rotational Mechanism of One Transfer Manipulator with Electro-Hydraulic Acting

“…The manipulator consists of the 3 basic mechanisms for the three main movements: the mechanism of horizontal displacement of the tongs [4], the elevation mechanism of the tongs [5] and, also, the mechanism of rotation around a vertical axis, which is the object of study presented in this paper. Beside the 3 mechanisms, the manipulator has, also, a prehension /gripping mechanism, usually, based on a linear hydraulic motor, presented in reference [6].…”

“…In order to know the dynamical behaviour of the charging and evacuating manipulators, it has started a large theoretical research for finding the dynamic responses of the each mechanism. Reference [4] was the first paper which presents some of the theoretical results regarding the dynamic behavior of the horizontal translation mechanism, the reference [5] is the second paper which presents the respons of the tongs elevation mechanism, and the reference [6] presents the dynamic respons of the prehension mechanism.…”

“…The program carries out a simulation model of the dynamic behaviour of the manipulator. The simulation experiments have used, as input data, the constructional and functional parameters of the 100 N charging and evacuating manipulator, [4]. Following to the running of the simulation programs, there was obtained the variation of all interest parameters, as a graphic form, their evolution being in full concordance with the known data..…”

“…In figure 1, is presented an charging and evacuating manipulator [4], [5], [6] which is a mechanized system for handling of the heavy parts (100 N) with the working mechanisms acted by an electro-hydraulic driving system.…”

The Dynamic Behavior of the Prehension Mechanism of One Transfer Manipulator with Electro-Hydraulic Acting

“…The mechanized systems for handling of the heavy parts (tens of kilograms) have, usually, hydraulic prehension /gripping mechanisms, usually, based on a linear hydraulic motor MHL [3].The charging and evacuating manipulator, presented in Fig. 1, consists of the 3 basic mechanisms for the three main movements: the mechanism of horizontal displacement of the tong [4], the elevation mechanism of the tong [5] and, also, the mechanism of rotation around a vertical axis. These 3 mechanisms give to manipulator the feature to be one in cylindrical coordinates.…”