| Forging manipulator is one of important equipments in modern forging system,which can achieve repeatability of forging process and improve the precision of forging.According to the automatic and programmable developing trend of hydraulic forgingmanipulator, combining development, research and control status quo in domestic, thispaper focused on research and developing a multidisciplinary system model of forgingmanipulator based on the virtual prototyping that rapidly developed technology in recentyears. The model, which is used in analyzing and optimizing hydraulic control system,can improve the work efficiency and automation level of forging manipulator and it isgreat valuable for academic research. This paper mainly completed works and researchcontents as follows:(1)According to the actions and structure characteristics of complex, the kinematiccharacteristics of forging manipulator mechanisms were analyzed and the mathematicalmodel between tongs terminal and actuator was built. Combined with the structureparameters of forging manipulator, the approximation formula accuracy of tongs parallellifting action was analyzed, and a method of reducing the calculation error was proposed,which uses higher equation of approximation formula and provides an importantmathematical basis for the realization high precision control in forging manipulator. Andthe mult-body dynamics model of forging manipulator was built.(2)According to the hydraulic system characteristics of complex, the model of keycomponents such as electromagnetic unloading relief valve, the proportion of non-linearvalve, accumulators, actuators and pipes etc were built and simulated. Then, thehydraulic system model of forging manipulator was built. which lay the theoreticalfoundation for researching the control characteristics of forging manipulator.(3)According to the characteristics of forging manipulator models, the principle ofparameters coupling in multidisciplinary field models was analyzed, and the interfaces ofdata exchange and communication were created. Then the collaborative simulation modelof forging manipulator was built. (4)The experimental test for hydraulic system of forging manipulator was finished,and the experimental abnormal pressure changes were analyzed. The conclusion hadgreat significance for structure optimization and improvement of working reliability offorging manipulator. Using quantitative methods, the collaborative simulation model offorging manipulator was experimentally verified, which validated that the model hadhigh accuracy and lay a foundation for application research.(5)The control characteristics of single action, compound action and control mode offorging manipulator were researched based on virtual prototyping, and aself-compensating absolute position control mode of forging manipulator was proposed,which can improve the position control accuracy. The results provided a theoreticalreference for forging manipulator hydraulic control system design and optimization.
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