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The method of force compliance was proposed during process of the manipulator cooperating with the movement of the forging press, which could avoid the destructive effect generated by the deformation resistance of the workpiece for the key parts. Taking the 20T forging manipulator as the target, the inverse kinematics model and the dynamic model of the major-motion mechanism were established. Through taking the pressure as the controlled variable, the dynamic model of the hydraulic lifting system was built. Based on the buffering principle, the mathematics model of the horizontal buffering system was deduced. Taking the deformation model of workpiece as the input, the variations of the displacements and forces for hydraulic cylinders were obtained by the simulation. Finally, the effectiveness of active pressure compliance method of the lifting control system using the classical proportional–integral–derivative control strategy and that of the passive compliance method for the buffering system were verified.

Processing control of the forging integration based on force compliance