Structure synthesis for forging manipulators

Abstract

Several forging manipulators are presented. Such machine is aimed to use in robotic forging operations. According to forging processes, forging manipulators with full degrees of freedom are necessary. First, the basic concepts of the special Plucker coordinates (G <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">F</sub> set) are presented. Then, the structure synthesis of forging manipulator is described step by step.