Analysis of Contact forces for Forging Manipulator Grippers

Whether the gripper of a forging manipulator can achieve stable gripping depends a lot on the position and constraints of contact points. Therefore the analysis of contact status between the gripper and work piece is very important for the evaluation of the capability and reliability of the forging manipulator. In this paper, the contact forces of static stable gripping are analyzed by space decomposition method for a forging manipulator loading work-piece of 250 kg. The dynamic simulations are also used to analyze the contact status of gripping. The improvements of stable gripping are then given. The above analysis provides a good foundation for the optimization of the structure and the design of the control system of the forging manipulator.