Research on Force Compliance of the Hydraulic Control System in Major-Motion Mechanism for Manipulator

Abstract

Abstract: The force compliance method of the hydraulic control system in major-motion mechanism was proposed during the forging process. Taking the major-motion mechanism of the forging manipulator as the target, the inverse kinematics model of major-motion mechanism was established, and the dynamic model of hydraulic control system was built. Through taking the pressure as the controlled variable, the model of the lifting hydraulic control system was obtained by using the co-simulation technology. Based on the principle of the horizontal buffering system, the model of the buffering hydraulic system which was made up of the buffering cylinder and the accumulator was deduced. The deformation of workpiece under the forging process was taken as an input, the variations of the displacements and forces for the lifting cylinder and the buffering cylinder were obtained by simulation. The effectiveness of active pressure compliance of the lifting control system through using the classical PID control strategy and that of passive compliance of the buffering system were verified.

Key words: major-motion mechanism, lifting system, horizontal buffering system, force compliance

CLC Number:

TP24

Li Geqiang, Zhang Jingwei, Li Yuesong, Zhou Bin, Ma Shuye. Research on Force Compliance of the Hydraulic Control System in Major-Motion Mechanism for Manipulator[J]. Journal of System Simulation, 2016, 28(7): 1538-1546.

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