Asynchronous coupling force of dual forging manipulator frequently results in poor forging and even equipment failure. In this paper, a synchronous control strategy in dual forging manipulator systems (DFMS) is proposed to stabilize its operation. Kinematic model of the hanging system and finite element model of the forgings are established to investigate the relationships of tension, forging deformation and deformation rate. The rigid-flexible coupling model of DFMS is further established and simulated concerning hydraulics, mechanics and controls. A correction based on the independent feedback state difference is concerned, simulated results show good agreements with experimental data, validating the dead zone compensation algorithm of the proportional valve. Moreover, by the control strategy, the vertical synchronous error of the pincers end is rather small as ± 0.125 mm. The methodology presented in this paper represents a fundamental step towards the cooperation of DFMS and the press to realize collaborative operations.

This paper aims to study the natural heat dissipation capacity of a hydraulic tank during its miniaturization revolution. A theoretical model of heat dissipation was built up on the basis of experimental analysis. Then, the natural heat dissipation power was deduced and shown to be relevant. Influencing factors were analyzed, which were the oil height proportion, design proportion, volume, material type, and wall thickness. The results showed that the heat dissipation power is proportional to the height of the oil in the tank. The power increases with the height proportional coefficient k2, while it first decreases and then increases with the length proportional coefficient k1. The lengthwise coefficient obviously has a more significant effect. The influence degree of reduction methods on natural heat dissipation is in the following order: length reduction > equal proportion reduction > height reduction > width reduction. Additionally, when the thermal conductivity λ is greater than 10 W/(m·K), the material and wall thickness of the tank slightly influence the heat dissipation capacity; otherwise, the influence is evident.