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1、附录（二）原文：IntelligentControlofaNovelHydraulicForgingManipulatorAbstractTheincreaseddemandforlarge-sizeforgingshasledtodevelopmentsandinnovationsofheavy-dutyforgingmanipulators.Besidesthehugecarryingcapacity,somerobotfeaturessuchasforceperception,delicacyan
2、dflexibility,forgingmanipulatorsshouldalsopossess.Theaimoftheworkistodevelopaheavy-dutyforgingmanipulatorwithrobotfeaturesbymeansofcombinationofmethodsinmechanical,hydraulic,andcontrolfield.Inthispaper,throughkinematicanalysisofanovelforgingmanipulator,c
3、ontrolstrategyofthemanipulatorisproposedconsideringthefunctionandmotionofforgingmanipulators.Hybridpressure/positioncontrolofhydraulicactuatorsinforgingmanipulatorisrealized.Thefeasibilityofthecontrolmethodhasbeenverifiedbytheexperimentsonarealprototypeo
4、fthenovelhydraulicforgingmanipulatorinourinstitute.Theintelligentcontroloftheforgingmanipulatorisperformedwithprogrammablelogiccontrollerwhichissuitableforindustrialapplications.1.IntroductionTheuseofmanipulatorsinopendieorfreeforgingcanbetracedbackabout
5、60yearswhendevelopmentstartedinbothEuropeandtheUSA.Manipulatorsforheavyworkpieces,thatis,thoseintheregionof200tonsweight,havebeendevelopedsteadilysincethattime,andcurrentlythereareanumberofexamplesofcomputer-controlledfullyautomaticforgingmanipulatorsbei
6、ngused.Asaresultofthepracticaluseofthecontrolsystem,theoperatorswerereleasedfrommentalstress,thetrainingperiodforoperatorswasreduced,theuniformityofforgingqualitywasimproved,andahigherproductionratewasattained.Controlofthemanipulatorsinvolvesrotationalco
7、ntrolinthecontinuousrotationandincrementalanglerotationmodes.Themanipulatorpositionrequiresintegratedcontrolwiththepresstoachieveinchesperpressstrokewhilecompensatingforworkpiecelengthincreaseduetocross-sectionareareductionofworkpiece.Vitscheffdemonstrat
8、estheneedforcompliancecontrolwhenrobotsareusedtomanipulatetheworkpieceduringforging.Specifically,theexternalforcesexertedonthemanipulatorthroughitsmanipulationoftheworkpieceduringforgingstepsmustbeminimizedtoavoiddamagetot
