This paper presents a design of serial - parallel manipulator for transferring heavy billets for a hot extrusion forging process. To increase the structural rigidity and restrict the endeffector of the robot moving in direction parallel with the ground surface, parallel links were added in between serial links of the manipulator. | Journal of Science and Technology 54 (4) (2016) 545-556 DOI: DESIGN ANALYSIS FOR A SPECIAL SERIAL - PARALLEL MANIPULATOR Chu Anh My1, *, Vuong Tien Trung2 1 2 17 Mechanical Company, Dong Xuan, Soc Son, Hanoi Advanced Technology Center, Le Quy Don Technical University, 236 Hoang Quoc Viet, Hanoi * Email: mychuanh@ Received: 21 May 2015; Accepted for publication: 9 May 2016 ABSTRACT This paper presents a design of serial - parallel manipulator for transferring heavy billets for a hot extrusion forging process. To increase the structural rigidity and restrict the endeffector of the robot moving in direction parallel with the ground surface, parallel links were added in between serial links of the manipulator. To validate the design, the kinematic modeling, the kinematic performance analysis and the strength analysis for the robot were taken into account. With respect to the parallel links, the constraint equation was written and put together with the kinematic model. Based on the model formulated, the inverse kinematic, the transferring time, the reachable workspace, the dexterity, and the manipulability index of the robot were analyzed and discussed to demonstrate its kinematical performance. These results are important to assess the working capability and improve the parametric design for the robot. In addition, for verifying the end-effector design in terms of the strength and displacement, the stress distribution and the static deflection of the end-effector module were computed and analyzed by using the computer-aided finite element method (FEM). Keywords: robotics, mechatronics system, industrial robot design. 1. INTRODUCTION Forging is a manufacturing process involving the shaping of metal using localized compressive forces. In general, a hot forging station usually composes of a heating furnace and a forging machine that uses either a hydraulic press or mechanical press for the billet extrusion. Consider a specific .
