Simplified synchronous control of an asymmetrical parallel mechanism for servo mechanical presses

摘要

In order to simplify the control system of an asymmetrical parallel mechanism for servo mechanical presses, a segmented synchronous control scheme is proposed. According to the stamping motion feature, the slider motion is divided into three stages. For each stage, different synchronous control method, such as parallel synchronous control or master-slave synchronous control, is adopted. To verify its validity, an experiment prototype with IPC as controller is built. And the kinematic and dynamic characteristics are tested. The results show that the simplified synchronous control scheme can realize the required slider motions with simpler control strategy and more convenient trajectory planning.