Design and performance analysis of a novel parallel servo press with redundant actuation

The large capacity servo press is traditionally realized by means of simultaneous actuation of multiple motors. But there exist the over-constraint problem and interference among actuators, which increases the control difficulty and product cost. This paper proposed a novel parallel servo press with redundant actuation, which can avoid the over-constraint and actuation interference. The kinematic and dynamic model of the present servo press are established and thus the kinematic and dynamic performances are obtained under three working modes, i.e. the same and opposite direction modes and non-synchronous mode. The prototype of the active mechanism with the redundant actuators has been manufactured. The kinematic experiments are carried out by using API laser tracking system and the theoretical calculation results agree with the measured data very well, which validates the theoretical model and the present press mechanism.