四自由度锻造操作手模拟实验台动力学建模与控制

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锻造操作手在时变工况下的动力学特性直接影响着锻件的成形质量。采用拉格朗日方程法建立四自由度锻造操作手模拟实验台动力学模型，并将数学模型与ADAMS虚拟样机的动力学仿真结果进行对比验证，证明了模型的合理性。在此基础上，设计基于重力补偿的PID控制器，仿真结果显示控制性能良好。研究结果为实际锻造操作手的动力学研究和轨迹规划提供了有价值的参考。 The quality of forging has a direct relation with the dynamic performance of forging manipulators in time-varying conditions. The dynamic model of a 4-DOF simulated forging manipulator was established by using the theory of Lagrange equation. Then, the model was proved to be reasonable by-comparing the output of the mathematic model with that of dynamic simulations in ADAMS. Finally, a PID controller with on-line gravity compensation was proposed for the control of the simulated manipulator. Simulations demonstrate that the control performance is good. These results provide valuable references for the dynamic study and trajectory planning of forging manipulators.