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Modelling the Dynamics of a Large-Scale Industrial Manipulator for Precision Control

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Advanced Problem in Mechanics III (APM 2021)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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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

  1. Cartmell, M.P., Whittaker, A.R., Krimly, A.: The kinematics and dynamics of a dexterous parallel manipulator for structural inspection applications. Key Eng. Mater. 293–294, 653–660 (2005)

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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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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, University of Strathclyde, James Weir Building, 75 Montrose Street, Glasgow, G1 1XJ, Scotland, UK

    M. P. Cartmell, D. Johnston & B. Wynne

  2. Advanced Forming Research Centre, 85 Inchinnan Drive, Inchinnan, Renfrewshire, PA4 9LJ, Scotland, UK

    I. Gordon, S. Liang, L. McIntosh & B. Wynne

Authors
  1. M. P. Cartmell
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  2. I. Gordon
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  3. D. Johnston
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  4. S. Liang
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  5. L. McIntosh
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  6. B. Wynne
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Corresponding author

Correspondence to M. P. Cartmell .

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Editors and Affiliations

  1. IPME RAS, Peter the Great St. Petersburg Polytechnic University, St. Petersburg, Russia

    D. A. Indeitsev

  2. IPME RAS, Peter the Great St. Petersburg Polytechnic University, St. Petersburg, Russia

    A. M. Krivtsov

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© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

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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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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-37245-2

  • Online ISBN: 978-3-031-37246-9

  • eBook Packages: EngineeringEngineering (R0)

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