Dynamic Stability Analysis of a Novel Forging Manipulator.

The dynamic stability problem of heavy-duty mobile forging manipulators is of great importance for both designing purpose and working task planning. In this paper, a new stability measure named as Force-Moment Ratio Stability is presented. This measure regards the complex multi-rigid body system of the mobile manipulator as a whole and incorporates all static and dynamic factors into consideration. The process of formulation together with the dynamic model of a novel forging manipulator shows this measure is physically meaningful and applicable to dynamic mobile systems subject to inertial, external forces and moments under any kind of motion trajectories. The performance and effectiveness of the measure is demonstrated through a practical implement in the designing of a heavy-duty mobile manipulator used in integrated heavy forging center. [ABSTRACT FROM AUTHOR]