Running Velocity Planning and Tracking Control of Forging Manipulator Lifting Mechanism

This paper focuses on the issues of mechanical shaking during operation and velocity tracking for the parallel lifting mechanism of forging manipulators, and investigates the planning of velocity and design of the velocity tracking controller of the manipulator. Firstly, an electro-hydraulic servo model for the lifting mechanism is presented. Secondly, a velocity planning method based on segmented operation distances is adopted, then the optimized asymmetric S-type velocity curves are proposed in order to realize smooth and shortest-time operation under different process requirements. Furthermore, a sliding mode velocity tracking controller is designed. Simulations demonstrate that the velocity planning method presented in this paper can effectively address the issues of shaking and time minimization during operation, and the output of system can track the ideal velocity curve well under the sliding model tracking controller.