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Dynamic Modeling and Multiobjective Optimization of Forging Manipulator During One Forging Stroke

Forging manipulator design must fulfill two conflicting criteria. One is the working safety which is attained by minimizing the interface force exerted on the clamp during the metal forming period; the other is the working efficiency, which is obtained by minimizing the rebound duration after the forging die leaves the workpiece. In this article, the multibody dynamic model of the manipulator system is established. Two above mentioned objectives are minimized simultaneously, namely, the maximum vertical force exerted to the clamp, the rebound duration of clamp. The resilient system parameters are taken as design variables. The nondominated sorting genetic algorithm II (NSGA II) is adopted to execute the multiobjective optimization. The obtained Pareto-optimal solutions show favorably good results as compared with the original design.