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- W2374961872 abstract "Forging manipulator is one of the most important equipment in the automation of forging operation,and plays an important role in improving productivity and ensuring manufacturing quality. To improve the forging manipulator's performance,a similar model of a forging manipulator is designed to facilitate experiments. The inverse dynamics of this similar model is obtained by using the principal of virtual work;and to decrease the negative effect of the nonlinearity of the mechanism dynamics,the dynamic feedforward control method is adopted,distributing driving forces,which are needed for the tongs carrier of the manipulator to generate desired motions,to each hydraulic cylinder. The tracking performance of the tongs carrier is chosen to be guaranteed by improving the position response performance of each hydraulic cylinder. So,by using feedback linearization method and considering the nonlinearities of hydraulic systems,a hydraulic cylinder system is transformed into a second-order linear system which can be easily adjusted by setting four parameters to get desired damp ratio and natural frequency and to improve the response dynamics. Simulation results finally attest the validity of the proposed method." @default.
- W2374961872 created "2016-06-24" @default.
- W2374961872 creator A5069913532 @default.
- W2374961872 date "2010-01-01" @default.
- W2374961872 modified "2023-09-26" @default.
- W2374961872 title "Inverse Dynamics Modeling and Nonlinear Controller Design of the Similar Model of a Forging Manipulator" @default.
- W2374961872 hasPublicationYear "2010" @default.
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