Abstract
FutureForge is a strategic programme in the University of Strathclyde Advanced Forming Research Centre (AFRC) to deliver a 2,000 Tonne hydraulic press acting in three forging modes; open die, closed die and isothermal mode. A key element of FutureForge relates to the development of a digital environment and simulation capability. The forging environment has been designed, and the principal aim of this research is to develop a nonlinear mathematical model of the manipulator dynamics. The manipulator is used to carry the metal ingots/bars from storage to the furnaces and then feed them to the hydraulic press to undergo the forging operation. This model is required for developing a VR capability which can be used to train operators and engineers who will be required to use the system in practice. It is also forming the basis of a new nonlinear control strategy for the machine.
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References
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Acknowledgements
The authors would like to acknowledge the funding made available through AFRC contract number AFRC_TRP1460_CATP_1466_WP8. They would also like to acknowledge the University of Strathclyde JARA studentship awarded to D.Johnston, with Clansman Dynamics Ltd.
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Cartmell, M.P., Gordon, I., Johnston, D., Liang, S., McIntosh, L., Wynne, B. (2023). Modelling the Dynamics of a Large-Scale Industrial Manipulator for Precision Control. In: Indeitsev, D.A., Krivtsov, A.M. (eds) Advanced Problem in Mechanics III. APM 2021. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-031-37246-9_23
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DOI: https://doi.org/10.1007/978-3-031-37246-9_23
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