基于中南大学首创的创新型大学办学要求和"A"型人才结构目标模式即"宽专业、厚基础、高素质、突出创新能力"人才培养模式,本文研究在原有机械基础实验平台的基础上进行整合优化,构建以转变实验教学理念、更新实验教学观念为先导,以管理体制和实验队伍的建设为根本,以实验教学条件及设施的建设为基础,以大机械基础实验教学体系的建设为目标,适应高素质创新人才培养的开放性大机械基础实验教学平台.其理念与方案对于高等学校实验教学平台的构建和优化具有引导与借鉴意义.

According to the characteristics of forging manipulator＇s end movement and the output correlation, the type synthesis tasks were divided into three groups, the mechanism motion output matrix was built, the single ordered opened chain was taken as a design objective, and the structure synthesis of the main motion mechanism was carried out. Then the characteristics of the three groups were integated based on the whole system and the extreme service environment of forging manipulator, and finally a lot of kinds of manipulators＇ complete configurations were integrated. The input and output co-relational characteristics of some mechanisms and control decouping were studied. The results show that some new configurations are superior to the typical configurations for the control decouping.

Heavy-duty forging manipulators play an important role in extreme manufacturing. Based on the kinematic model of DDS forcing manipulator, the input- output relation equations in terms of position are derived. According to the actually movement path of output mechanism, a new decoupling concept is defined as to forcing manipulator. The input-output relation matrices in terms of velocity are established at three major motions, and the coupling characteristics of mechanism are analyzed. At last, the theory analysis is proved correct by experimental verification. The results show that three major motion mechanisms of DDS forcing manipulator are partially decoupled under the new decoupling concept compared with the conventional one, which helps to simplify the control strategy of DDS forcing manipulator.