Analysis of dynamic contact forces for forging manipulator grippers

A contact model has been presented which assume that the contact forces between the work-piece and the tongs are simplified as the four resultant forces with friction point contact. And the contact forces are calculated based on this contact model. To simplify the contact status, a contact model with spring-damper system is presented by considering the deformation of the work-piece in this paper. And the dynamic equations of the work-piece are formulated based on this dynamic contact model. The solution of the dynamic equations is finished in Adams, and the contact forces and driving forces are calculated. By compared with the contact forces of the gripping model, the regularity of dynamic contact forces is found out. This is helpful for the design and optimization of large-scale forging manipulators