【正文】 perception. Moreover, the forging manipulator can ply with the external forces exerted on it by workpiece during forging steps. These are based on a new pressure control method and a hybrid pressure/position control method of hydraulic servosystem presented in this paper. All of the hydraulic control methods and intelligent control strategies have been verified by experiments on the prototype forging manipulator. This work provides the theoretical and practical foundation for further development of intelligent heavyduty forging manipulators. References 1. E. Appleton, W. B. Heginbotham, and D. Law, “ Open die forging with industrial robots.,” Industrial Robot, vol. 6, no. 4, pp. 191– 194, 1979. View at Scopus 2. “ Attaining practicality of freely programmable control of an open die forging press and forging manipulator by a puter,” IshikawajimaHarima Engineering Review, vol. 17, no. 6, pp. 599– 606, 1997. 3. R. A. Ridgeway, “ Microprocessor utilization in hydraulic opendie forge press control,” IEEE Transactions on Industrial Electronics and Control Instrumentation, vol. 22, no. 3, pp. 307– 309, 1975. View at Scopus 4. V. Vitscheff, “ A programmable manipulator for closed die forging,” in Proceedings of the 9th International Drop Forging Convention, Kyoto, Japan, 1977. 5. W. B. Heginbotham, A. K. Sengupta, and E. Appleton, “ An ASEA robot as an opendie forging manipulator,” in Proceedings of the Second IFAC/IFIP Symposium, pp. 183–193, Stuttgart, Germany, 1979. 6. A. K. Sengupta, E. Appleton, and W. B. Heginbotham, “ Ring forging with an industrial robot,” inProceedings of the 10th International Symposium on Industrial Robots, pp. 29– 42, Milan, Italy, 1980. 7. K. W. Lilly and A. S. Melligeri, “ Dynamic simulation and neural work pliance control of an intelligent forging center,” Journal of Intelligent and Robotic Systems, vol. 17, no. 1, pp. 81– 99, 1996. View at Scopus 8. A. S. Melligeri and K. W. Lilly, “ Application of neural works in pliance control of an integrated robot/forge processing center, ” in Advances in Manufacturing Systems: Design, Modeling and Analysis, pp. 445– 450, Elsevier, New York, NY, USA, 1993. 9. M. Baldassi, “ Open die forging presses with manipulators,” Forging, vol. 14, no. 5, pp. 16– 18, 2020. 譯文： 一種新型的液壓鍛造操作機(jī)的智能控制 摘要 大尺寸鍛件的需求增加，導(dǎo)致重型鍛造機(jī)械手的發(fā)展和創(chuàng)新。也就是說，自那時(shí)起，該區(qū)域的 200 噸較重的工件的機(jī)械手的已穩(wěn)步發(fā)展，目前有一些實(shí)施例，即所使用計(jì)算機(jī)控制的全自動(dòng)鍛造機(jī)械手。機(jī)器人應(yīng)用在相應(yīng)的液壓機(jī)中。對(duì)研究和開發(fā)重型鍛造機(jī)械手已經(jīng)進(jìn)行了許多努力。一種新型鍛造操作機(jī)的運(yùn)動(dòng)學(xué)分析正在實(shí)現(xiàn)。 整個(gè)鍛造過程可分為 press， inpress， afterpress 三個(gè)階段。在均衡狀態(tài)下，實(shí)際的提升力等于工件的總重量，夾持器和支持力的誤差等于乘以一個(gè)系數(shù)的位置的誤差。 (c)回應(yīng)工件 在鍛造過程中，當(dāng)工件由上模壓制，額外的力由變形工件施加在夾持器，力使舉升油缸的負(fù)載的增加。圖 2 這些想法說明了混合控制系統(tǒng)。在鍛造過程的整個(gè)期間，總是保持前側(cè)移缸，后側(cè)移位和傾斜缸。 壓力值設(shè)置的自動(dòng)識(shí)別 如圖 4，當(dāng)工件被把持通過操作器，使用混合動(dòng)力壓力 /位置控制方法，設(shè)定的壓力和位置命令值 P0 和 X0 的原始值。在這個(gè)時(shí)刻，實(shí)際的壓力迅速下降。印刷機(jī)完成時(shí)，上模向上移動(dòng)，這個(gè)過程叫做“ afterpress，”缸上的負(fù)載減少?？刂破髟噲D保持一個(gè)恒定的 兆帕壓力，而工件位置的高度超過預(yù)設(shè)的命令位置 400 毫米，負(fù)反饋的位置是正常的。 圖 9：舉升缸位置曲線 實(shí)驗(yàn)結(jié)果表明，該技術(shù)是簡(jiǎn)單的和可行的。所有液壓控制方法和智能控制策略已核實(shí)，并通過實(shí)驗(yàn)原型鍛造操作 。主要機(jī)制的解耦，從而大大簡(jiǎn)化了鍛造操作的控制。雖然命令位置信號(hào)以恒定的速率減少，工件向下移動(dòng)試圖捕捉速率。這個(gè)原型的主要特點(diǎn)是承載能力 60KN，負(fù)載力矩 150KNM，裝機(jī)功率 130KW。 圖 5：插圖工件的位置 在垂直方向上的合規(guī)性和自動(dòng)上移 在圖 6 所示，當(dāng)工件被上模按下時(shí)，在氣 缸上的負(fù)載會(huì)增加工件的變形，這個(gè)過程被稱為“ inpress。 圖 4：測(cè)量工件的插圖 自動(dòng)識(shí)別放置工件高度 如圖 5 所示，假設(shè)工件停留在一個(gè)與力量平衡的位置，減少命令行的位置X0 和恒定的速率，然后平衡將會(huì)被打破。 /位置控制方法 整體控制方案的框圖如圖 3 所示。當(dāng)實(shí)際升降位置低于設(shè)定值的高度，位置誤差的反饋是零，爪在持續(xù)力下不斷提升。工件由一個(gè)恒定的提升力被抬到原來(lái)的位置。所以工件向下移動(dòng)機(jī)械臂。 （ a）抓住工件 首先，調(diào)整夾持器的水平和垂直位置，由夾持器在長(zhǎng)凳上夾緊工件。 象模型 今年工作重點(diǎn)放在另一個(gè)開放式模鍛廠重型操作的新型軌道式鍛造機(jī)械手。 鍛造操作機(jī)不僅 是一個(gè)巨大的承載能力的設(shè)備，但也是一個(gè)微妙性和靈活性，能夠拿起和放下工件并輕輕感知力的機(jī)器人。將工件放入預(yù)定位置，以旋轉(zhuǎn)和行程運(yùn)動(dòng)閉式液壓回路驅(qū)動(dòng)，以減少能源消耗和沖擊，且操縱者由綁定的兩個(gè)軌道以提高定位。 vitscheff[4]表明，有必要時(shí)，機(jī)器人被用來(lái)操縱在鍛造過程中的工件合格。且實(shí)現(xiàn)鍛造操作機(jī)的液壓執(zhí)行器的混合壓力 /位置控制。附錄（二） 原文： Intelligent Control of a Novel Hydraulic Forging Manipulator Abstract The increased demand for largesize forgings has led to developments and innovations of heavyduty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavyduty forging manipulator with robot features by means of bination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications. 1. Introduction The use o