Synchronous control method for the walking system of the dual forging manipulators based on triangular velocity planning

• Xiaonan Wang ^[1] ; Fugang Zhai ^[1] ; Runyuan Zhao ^[1] ; Yangtao Xing ^[1] ; Zhiqiang He ^[1]
  1. [1] Yanshan University

     Yanshan University

     China

     
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 53, Nº. 2, 2025, págs. 1228-1248
• Idioma: inglés
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• Resumen

  • The primary function of the dual forging manipulators’ walking system is to precisely control the axial feeding of forgings. The stability and control accuracy of this system significantly impact forging quality and production efficiency. To achieve synchronized position control, a mathematical model was developed using two 20 kN forging manipulators as the research subjects. Subsequently, a triangular velocity trajectory planner was devised to examine the effects of acceleration, start–stop coefficient, and peak coefficient on the control behavior of the system. Lastly, the efficacy of this control method, which employing triangular velocity planning (TVP) for displacement–velocity composite control, was confirmed through equivalent experiments. The results indicate that this method can effectively regulate the response dynamics of two walking systems, with a displacement difference of less than 1 mm between the two manipulators.