外文翻译---一种新型的液压锻造操作机的智能控制

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1、附录（二）原文：IntelligentControlofaNovelHydraulicForgingManipulatorAbstractTheincreaseddemandforlarge-sizeforgingshasledtodevelopmentsandinnovationsofheavy-dutyforgingmanipulators.Besidesthehugecarryingcapacity,somerobotfeaturessuchasforceperception,delicacyandflexibility,forgingmanipulato

2、rsshouldalsopossess.Theaimoftheworkistodevelopaheavy-dutyforgingmanipulatorwithrobotfeaturesbymeansofcombinationofmethodsinmechanical,hydraulic,andcontrolfield.Inthispaper,throughkinematicanalysisofanovelforgingmanipulator,controlstrategyofthemanipulatorisproposedconsideringthefuncti

3、onandmotionofforgingmanipulators.Hybridpressure/positioncontrolofhydraulicactuatorsinforgingmanipulatorisrealized.Thefeasibilityofthecontrolmethodhasbeenverifiedbytheexperimentsonarealprototypeofthenovelhydraulicforgingmanipulatorinourinstitute.Theintelligentcontroloftheforgingmanipu

4、latorisperformedwithprogrammablelogiccontrollerwhichissuitableforindustrialapplications.1.IntroductionTheuseofmanipulatorsinopendieorfreeforgingcanbetracedbackabout60yearswhendevelopmentstartedinbothEuropeandtheUSA.Manipulatorsforheavyworkpieces,thatis,thoseintheregionof200tonsweight

5、,havebeendevelopedsteadilysincethattime,andcurrentlythereareanumberofexamplesofcomputer-controlledfullyautomaticforgingmanipulatorsbeingused.Asaresultofthepracticaluseofthecontrolsystem,theoperatorswerereleasedfrommentalstress,thetrainingperiodforoperatorswasreduced,theuniformityoffo

6、rgingqualitywasimproved,andahigherproductionratewasattained.Controlofthemanipulatorsinvolvesrotationalcontrolinthecontinuousrotationandincrementalanglerotationmodes.Themanipulatorpositionrequiresintegratedcontrolwiththepresstoachieveinchesperpressstrokewhilecompensatingforworkpiecele

7、ngthincreaseduetocross-sectionareareductionofworkpiece.Vitscheffdemonstratestheneedforcompliancecontrolwhenrobotsareusedtomanipulatetheworkpieceduringforging.Specifically,theexternalforcesexertedonthemanipulatorthroughitsmanipulationoftheworkpieceduringforgingstepsmustbeminimizedtoav

8、oiddamagetot