中文摘要：

以自由锻造操作机的一次锻打工况作为研究对象,建立锻造操作机＂锻造-机械-液压＂多领域耦合动力系统模型。基于模块化建模思想,模型中锻造子系统,机械子系统和液压子系统均采用状态方程统一表达,通过定义子系统间的输入输出关系,可耦合成系统的动力学模型。利用此模型对锻造操作机一次锻打过程中的顺应过程进行描述和分析,揭示了顺应运动应分为两个阶段：2自由度主动顺应阶段和3自由度主被动顺应阶段。针对某典型作业条件,分三种不同工况：缓冲缸失效、缓冲缸背压恒定以及实际作业工况,对某型号锻造操作机的顺应过程进行仿真和分析。仿真结果验证了顺应运动一方面能够保护操作装备免受过大载荷的破坏,另一方面能够改善装备的外部载荷环境,对保证锻造操作机正常工作具有重要意义,同时为操作机的设计和性能优化提供了重要的理论依据。

英文摘要：

A multi-domain dynamic modeling of forging manipulator including forging,mechanism and hydraulic elements is established to study a forging process.Based on the modular approach,the forging subsystem,mechanism subsystem and hydraulic subsystem are all expressed in state space equations,which can form the coupling dynamic model by defining the input and output relations among subsystems.The model is utilized to describe and analyze the compliance process and the characteristics for two periods of compliance are revealed,that is：two degrees of freedom active compliance stage and three degrees of freedom active and passive compliance stage.The compliance process under one typical working condition is simulated and analyzed based on three different cases：invalidation of buffering cylinder,constant pressure of buffering cylinder and the actual situation.The simulation results show that the compliance movement will on one hand protect the manipulator from being damaged by large load and on the other hand improve the external load environment,which has great significance to keep the manipulator work in good conditions.The theoretical basement is also provided for the design and optimization of forging manipulator.