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,forgingmanipulatorssh

2、ouldalsopossess.Theaimoftheworkistodevelopaheavy-dutyforgingmanipulatorwithrobotfeaturesbymeansofcombinationofmethodsinmechanical,hydraulic,andcontrolfield.Inthispaper,throughkinematicanalysisofanovelforgingmanipulator,controlstrategyofthemanipulatorisproposedconsideringthefunctionandmot

3、ionofforgingmanipulators.Hybridpressure/positioncontrolofhydraulicactuatorsinforgingmanipulatorisrealized.Thefeasibilityofthecontrolmethodhasbeenverifiedbytheexperimentsonarealprototypeofthenovelhydraulicforgingmanipulatorinourinstitute.Theintelligentcontroloftheforgingmanipulatorisperfo

4、rmedwithprogrammablelogiccontrollerwhichissuitableforindustrialapplications.1.IntroductionTheuseofmanipulatorsinopendieorfreeforgingcanbetracedbackabout60yearswhendevelopmentstartedinbothEuropeandtheUSA.Manipulatorsforheavyworkpieces,thatis,thoseintheregionof200tonsweight,havebeendevelop

5、edsteadilysincethattime,andcurrentlythereareanumberofexamplesofcomputer-controlledfullyautomaticforgingmanipulatorsbeingused.Asaresultofthepracticaluseofthecontrolsystem,theoperatorswerereleasedfrommentalstress,thetrainingperiodforoperatorswasreduced,theuniformityofforgingqualitywasimpro

6、ved,andahigherproductionratewasattained.Controlofthemanipulatorsinvolvesrotationalcontrolinthecontinuousrotationandincrementalanglerotationmodes.Themanipulatorpositionrequiresintegratedcontrolwiththepresstoachieveinchesperpressstrokewhilecompensatingforworkpiecelengthincreaseduetocross-s

7、ectionareareductionofworkpiece.Vitscheffdemonstratestheneedforcompliancecontrolwhenrobotsareusedtomanipulatetheworkpieceduringforging.Specifically,theexternalforcesexertedonthemanipulatorthroughitsmanipulationoftheworkpieceduringforgingstepsmustbeminimizedtoavoiddamagetot