【正文】 f manipulators in open die or free forging can be traced back about 60 years when development started in both Europe and the USA. Manipulators for heavy workpieces, that is, those in the region of 200 tons weight, have been developed steadily since that time, and currently there are a number of examples of putercontrolled fully automatic forging manipulators being used . As a result of the practical use of the control system, the operators were released from mental stress, the training period for operators was reduced, the uniformity of forging quality was improved, and a higher production rate was attained . Control of the manipulators involves rotational control in the continuous rotation and incremental angle rotation modes. The manipulator position requires integrated control with the press to achieve inches per press stroke while pensating for workpiece length increase due to crosssection area reduction of workpiece . Vitscheff demonstrates the need for pliance control when robots are used to manipulate the workpiece during forging. Specifically, the external forces exerted on the manipulator through its manipulation of the workpiece during forging steps must be minimized to avoid damage to the robot mechanism. An ASEA robot was used as an opendie forging manipulator. The ASEA robot has an inbuilt Intel microprocessor which controls its arm and gripper movements in five axes. The robot was used in conjunction with a fielding hydraulic press . The application of neural works for pliance control of the forging robot was investigated. Effectiveness of the neural workbased pliance control module is evaluated through a full dynamic system simulation . An integrated forging plant, 25?MN open die press with 200?kN and 400?kNm manipulators, was built in 1999. The workpiece is put into position by two railbound manipulators with rotation and travel movements actuated by closed hydraulic circuits to reduce energy consumption and shocks and to improve positioning . The railbound forging manipulator with a carrying capacity of 1600?kN and 4000?kNm load moment started its operation in 2020 at JSW. The manipulator supports a straight line peel movement as well as an accurate and stable positioning which is possible because of the special lever arrangement . The increased demand for largesize forgings has led to developments and innovations all around the improvement of quality and productivity. Many efforts have been undertaken to research and develop heavyduty forging manipulators. The researches in recent years focus on the mechanisms of forging manipulator, such as kinematic modeling and analysis 。該控制方法的可行性已由我們研究所的一個(gè)真正新型液壓鍛造操作機(jī)的實(shí)驗(yàn)原型證實(shí)。具體而言，是通過(guò)在鍛造工序的工件操縱器上施加外力，且必須是最小化，以避免損壞的機(jī)器人機(jī)構(gòu)。軌道結(jié)合的鍛造操作機(jī)帶載能力為 1600 千牛， 4000KNM 負(fù)載力矩在 JSW 2020 年開(kāi)始運(yùn)作。合規(guī)性是重型鍛造機(jī)械手需要的另一個(gè)能力。這系列并聯(lián)鍛造操作機(jī)是我們研究所的新設(shè)計(jì)。然后，工件被夾持器和升降氣缸以大于工件總重量的恒定提升力抬起。工件合宜的速度由高度設(shè)定值 的變化率決定。然后，機(jī)械手進(jìn)給搬運(yùn)工件。當(dāng)實(shí)際升降位置高度高于設(shè)定值的位置誤差，系統(tǒng)開(kāi)始負(fù)反饋，而實(shí)際升力減小直至力和位置趨于平衡。該系統(tǒng)由控制器、功率放大器、伺服閥、氣缸、壓力傳感器、位置傳感器組成。對(duì)于反饋的錯(cuò)誤增加，實(shí)際壓力將變得更小，并嘗試去到另一個(gè)平衡狀態(tài)?！币詨毫?/位置控制模式，增加的負(fù)載使工件向下移動(dòng)，當(dāng) XX0，位置誤差反饋不工作。液壓致動(dòng)器所提供的恒定壓力的泵源由 servoproportional 位置換能器的閥控制。在升降缸中下模具工件上的觸摸可以檢測(cè)到壓力的變化。工件可以被鍛造機(jī)械手拿起和輕輕放下。這些都是基于一個(gè)新的壓力控制方法和本文提出的液壓伺服系統(tǒng)的混合動(dòng)力車(chē)壓力 /位置控制方法。從曲線中可以發(fā)現(xiàn)工件放置的高度。 圖 7：原型的新型液壓鍛造操作機(jī) 圖 8 演示了測(cè)量工件的重量和重力轉(zhuǎn)矩。因此，實(shí)現(xiàn)在垂直方向上的匹配。因此，工件向下移動(dòng)，直到碰到下模?；谶@種方法，實(shí)現(xiàn)了對(duì)鍛造操作機(jī)的智能控制。鍛造操作機(jī)的控制被簡(jiǎn)化只與升降缸有關(guān)。 如上所述，力 /位置混合控制是鍛造機(jī)械手控制的核心原則。在這一刻，保持高度設(shè)定值不變，那么起升油缸力和位置涉及到一個(gè)新的平衡。這種負(fù)反饋的位置使實(shí)際提升力小于設(shè)定值。 圖 1：一系列鍛造操作并行 CAD 模型。這項(xiàng)工作的總體目標(biāo)是通過(guò)機(jī)械手和機(jī)器人功能而開(kāi)發(fā)一的種液壓和控制領(lǐng)域相結(jié)合的重型鍛壓機(jī)械。 大尺寸鍛件的需求增加，導(dǎo)致了各地的改進(jìn)質(zhì)量和生產(chǎn)力的發(fā)展、創(chuàng)新。 ASEA 機(jī)器人有一個(gè)內(nèi)置的英特爾微處理器，用五根軸控制其手臂和抓手運(yùn)動(dòng)。 開(kāi)模或自由鍛造機(jī)械手的使用可以追溯到大約 60 年的時(shí)候就開(kāi)始在歐洲和美國(guó)發(fā)展。 performance analysis and optimization . The forging manipulator is not only an equipment with huge carrying capacity, but also a robot with delicacy and flexibility, capable of picking up and putting down workpieces gently with force perception. The pliance is another required capability of heavyduty forging manipulators. It is important of the promotion of quality, protection of manipulator, reduction of impact of heavy load, and energy saving. The overall aim of this work is to develop a heavyduty forging manipulator with robot features by means of bination of methods in mechanical, hydraulic, and control field. The kinematic analysis of a novel forging manipulator is performed. On this basis, control strategy of the manipulator is proposed considering the function and action of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The control of a real prototype of the novel hydraulic forging manipulator in our institute reaches the target of intelligent control. 2. Model of Control Object This work focuses on the novel trackmounted forging manipulator used for heavy