Design of a Pincer-type Dual-cylinder End Effector for Hammer Forging

doi:10.3969/j.issn.1004-132X.2026.07.010

China Mechanical Engineering ›› 2026, Vol. 37 ›› Issue (7): 1614-1623.DOI: 10.3969/j.issn.1004-132X.2026.07.010

Design of a Pincer-type Dual-cylinder End Effector for Hammer Forging

FENG Xuewen¹(), AO Xinke², ZHAO Qiben¹, MENG Guoying¹, WANG Aiming¹(), LI Xianglong¹, XU Yiyang³, QIU Tianze¹, FANG Yuhang¹

^1.School of Mechanical and Electrical Engineering，China University of Mining and Technology （Beijing），Beijing，100083
^2.Changsha Institute of Mining Research Co. ，Ltd. ，Changsha，410012
^3.Beijing China Coal Mine Engineering Co. ，Ltd. ，Beijing，100013

Received:2025-07-17 Online:2026-07-25 Published:2026-08-18
Contact: WANG Aiming

锤上模锻钳夹式双气缸末端执行器的设计

冯学文¹(), 敖焮柯², 赵启奔¹, 孟国营¹, 汪爱明¹(), 李祥龙¹, 徐义洋³, 邱天择¹, 方宇航¹

^1.中国矿业大学(北京)机械与电气工程学院, 北京, 100083
^2.长沙矿山研究院有限责任公司, 长沙, 410012
^3.北京中煤矿山工程有限公司, 北京, 100013

通讯作者: 汪爱明
作者简介:冯学文，女，1995年生，博士研究生。研究方向为锤上模锻相对位姿识别、机械手控制、智能制造。发表论文12篇。E-mail：fxuewen1010@126.com
汪爱明^*（通信作者），男，1982年生，教授、博士研究生导师。研究方向为煤矿机械智能化及智能制造、设备故障诊断及预知性维护、AI视觉识别、机械手控制、转子动力学。发表论文30篇。E-mail： wam_master@163.com。
第一联系人：樊玉杰，女，1979年生，教授、硕士研究生导师。研究方向为金属材料的表面改性和摩擦性能。获发明专利授权12 件。发表论文20 余篇。E-mail：fanyujie@just.edu.cn。刘芳华^*（通信作者），女，1972年生，教授、硕士研究生导师。研究方向为多体动力学控制、机器人技术、柔性传感器。获国家发明专利10项、软件著作权3项。发表论文10余篇。E-mail：cylfhua@163.com。
基金资助:
国家自然科学基金(52374167)

Abstract

Abstract:

To achieve stable grasping of high-temperature forgings， this paper designs a clamp-type end effector driven by dual pneumatic cylinders. Key structural parameters are determined through kinematic， dynamic， and finite element analyses. A center-closed pneumatic system and a PLC-based control system are developed， and grasping performance experiments are conducted. The two cylinders of the end effector have maximum strokes of 33.1 mm and 32.3 mm， with corresponding maximum driving forces of 1178.1 N and 752.9 N， respectively. The system shows the best dynamic response at a speed control valve opening of 60%. The end effector exhibits good adaptability in grasping forgings at various positions and meets the requirements for automatic grasping and repositioning of hammer-forged workpieces.

Key words: hammer forging, manipulator, end effector, kinematic analysis, pneumatic control

摘要：

为实现高温锻件的稳定抓取，设计了一种钳夹式双气缸驱动末端执行器。通过运动学、动力学及有限元分析确定了关键结构参数，设计了中封型气动系统及PLC控制系统，并开展了夹持性能试验。试验结果表明，末端执行器两个气缸的最大行程分别为33.1 mm和32.3 mm，最大作用力分别为1178.1 N和752.9 N，调速阀开度在60%时的系统响应性能最佳，对不同位置的锻件具有较好的夹持适应性，能满足锤上模锻锻件自动夹持与复位的需求。

关键词: 模锻, 机械手, 末端执行器, 运动学分析, 气动控制

CLC Number:

TH122

FENG Xuewen, AO Xinke, ZHAO Qiben, MENG Guoying, WANG Aiming, LI Xianglong, XU Yiyang, QIU Tianze, FANG Yuhang. Design of a Pincer-type Dual-cylinder End Effector for Hammer Forging[J]. China Mechanical Engineering, 2026, 37(7): 1614-1623.

冯学文, 敖焮柯, 赵启奔, 孟国营, 汪爱明, 李祥龙, 徐义洋, 邱天择, 方宇航. 锤上模锻钳夹式双气缸末端执行器的设计[J]. 中国机械工程, 2026, 37(7): 1614-1623.

Figures/Tables 32

Tab.1 Robot kinematic and dynamic parameters

关节	运动学参数		动力学参数
关节	最大角速度/（（°）·s^-1）	转动范围（°）	手腕静负荷扭矩/（N·m）	关节负载惯量/（kg·m²）
J1	100	-165～165
J2	80	-50～85
J3	110	-150～80
J4	150	-360～360	900	84
J5	150	-125～125	900	84
J6	210	-360～360	490	45

Fig.1 Overall structure of the end effector

Fig.2 3D Model of the bottom clamping mechanism

Fig.3 3D Model of the top pressing mechanism

Fig.4 3D Model of the supporting mechanism

Fig.5 3D Model of the flange connection mechanism

Fig.6 Clamping procedure for the forging blank with the back side facing up

Fig.7 Clamping procedure for the forging blank with the front side facing up

Fig.8 Configured simulation model

Fig.9 Simulation curve of the first actuating cylinder rod movement along the Z-axis

Fig.10 Simulation curve of the second actuating cylinder rod movement along the Z-axis

Fig.11 Simulation curves of the two clamping plates moving along the X-axis

Fig.12 Simulation curve of the pressing plate moving along the Y-axis

Fig.13 Simulation curves of the forging blank moving along the X and Y axes

Fig.14 Mechanical curve of the thrust force of the first actuating cylinder

Fig.15 Mechanical curve of the thrust force of the second actuating cylinder

Fig.16 Adjusted Simulation curves of actuating cylinder moving along the Z-axis

Fig.17 Total deformation cloud diagram of the bottom supporting structure

Fig.18 Equivalent strain cloud diagram of the bottom supporting structure

Fig.19 Maximum equivalent stress of the bottom supporting structure

Fig.20 Total deformation cloud diagram of the clamping plate

Fig.21 Equivalent strain diagram of the clamping plate

Fig.22 Equivalent stress diagram of the clamping plate

Fig.23 Total deformation cloud diagram of the top pressing mechanism

Fig.24 Equivalent strain diagram of the top pressing mechanism

Fig.25 Equivalent stress diagram of the top pressing mechanism

Fig.26 Hardware connection diagram of the pneumatic control system

Fig.27 Co-simulation result of cylinder 1 when SB1 is activated

Fig.28 Co-simulation result of cylinder 1 when SB2 is activated

Tab.2 Results for throttle valves at different opening degrees

	调速阀开度/%
	20	40	60	80	100
张开时间/s	0.35	0.28	0.22	0.18	0.15
闭合时间/s	0.40	0.32	0.26	0.21	0.18

Fig.29 Grasping forgings at different inclination angles

Fig.30 Grasping forgings at different rotation angles

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Design of a Pincer-type Dual-cylinder End Effector for Hammer Forging

锤上模锻钳夹式双气缸末端执行器的设计

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