中文摘要：

基于运动链图拓扑图库,提出一种新型六自由度前后双提升驱动锻造操作机工作装置.该装置不仅可以控制夹钳提升的同步性,还能更好地适应偏载工况.基于虚功原理建立了该新型锻造操作机主运动机构的动力学模型,并结合液压缸系统模型,设计模糊PID控制器实现对锻造操作机夹钳末端的运动跟踪.对夹钳在竖直平面运动进行轨迹规划并确定运动过程中液压驱动各单元所需提供的驱动力.基于Matlab/Simulink平台搭建控制系统仿真模型,在给定负载情况下,分别对夹钳的竖直提升运动、水平运动以及俯仰运动进行仿真分析,得到系统单位阶跃响应与正弦响应跟踪曲线及误差曲线.研究结果表明：基于该新型锻造操作机,采用模糊PID控制器能够快速、精确地获得新机构的性能参数并高效地完成跟踪,使系统保持良好的稳态性能与动态特性.

英文摘要：

Based on the kinematic chain map topological gallery, a new-type of six-DOF forging manipulator that has front and rear lifting drivers is proposed. The device can not only improve the synchronicity lifting of the clamp, but also adapt to the working condition better. A dynamics math model of the major-motion mechanism was established based on the principle of virtual work, combined with the dynamic model of the hydraulic cylinder to determine the driving force of hydraulic drive unit during the movement of manipulator clamp. On this basis, fuzzy PID controllers were designed to control the hydraulic drive units to realize the trajectory tracking of the manipulator clamp. In the process, the control system model was established in the Matlab/Simulink. Under the condition of a given load, the Matlab/Simulink software was used to do manipulator dynamics simulation about the clamp vertical lifting movement, horizontal motion and pitch motion, eventually getting the system unit step response, sine tracking response curve and error curve. Results show that the fuzzy PID controller can quickly and accurately obtain the parameters of the new forging manipulator＇s performance and complete tracking efficiently, allowing the system to maintain a good steady-state performance and dynamic performance.