中文摘要：

具有平行连杆式机构形式的万吨压机锻造操作机具有复杂的动力学行为。在瞬时机构，假设和机构弹性动力学原理的基础上，研究了用空间梁单元建立操作机结构系统的有限元动力学模型的方法。根据已完成的几何设计，对某型锻造操作机结构系统进行简化，建立了在某瞬时状态下的弹性动力有限元方程。在此基础上计算得到了操作机结构系统的前六阶固有频率和固有振型。

英文摘要：

There are complicated dynamical behaviors of the structural system of the forging manipulator with a parallel-link mechanism Based on the instantaneous mechanism assumption and mechanical elastic-dynamics theories, the structural dynamic finite element modeling method is studied with space beam element. Referring the finished designing of parts and links, the mechanical system is simplified for a forging manipulator prototype, and the elastic finite element model is established for a given instantaneous state. With the FE model, the first 6 natural frequencies and natural vibration patterns are calculated for the forging manipulator structure.