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Forging manipulators have become more prevalent in the industry of today. They are used to manipulate objects to be forged. The most common forging manipulators move on a railway to have a better precision and stability. Heavy payload forging manipulators systems are normally characterized by a large load output and a large capacitive load input as well. The relationship between outputs and inputs will greatly influence the control and the reliability. The great advantages are the decreasing energy consumption (during furnace operation) and the avoidance of damage to the furnace door, furnace lining, or the electrodes. Furthermore, an operator does not need to be in the hazardous area near the furnace. The compact design of these systems charging, stoking and distributing machines, along with a special lever system, allows these machines to be used in the most limited areas. The robust system machine presented in combination with the powerful drives system guarantees all the needed forces and accelerations. In contrast to solutions with rebuilt forklift trucks, the new machines discussed here provide unlimited view onto the working area, effective protection of the machines hydraulic to furnace heat radiation and clearly lower maintenance expenses. Furnace production and output increase while energy consumption and electricity cost go down. Furthermore, damages to the furnace door, furnace lining or the electrodes are avoided. Moreover, operators are better protected because nobody has to stay in hazardous area of the furnace. These machines use a monorail that allows charging, stoking and distributing from all positions. Additionally the rail leads to a service or parking positions for maintenance work in a protected area. On request the monorail may be extended so that one machine can work at several furnaces. New automatic machines may offer an alternative to rail-bound ones providing a fully automated variation of the mobile charging and stoking operations. In this study the general kinematics and forces of the main mechanism of one described manipulator have been analyzed.

Kinematics and Forces to a New Model Forging Manipulator