Kinematic Simulation and Inverse Kinematic Trajectory Solution of Servo Toggle Press

In modern manufacturing processes, servo press machines are indispensable intelligent equipment, and research on their mechanical structure and motion control has been gradually advancing. In this study, a servo toggle press has been designed by referring to existing servo press structures on the market and optimizing the transmission mechanism. The focus of this study is the transmission mechanism. Using geometric methods, it calculates the relationship between the slider's displacement and the input component's angle, resulting in the derivation of the forward kinematics equations. These equations provide curves for slider displacement, velocity, and acceleration within one motion cycle. By employing cubic spline interpolation, the inverse kinematics equations are computed to solve for the input component's angular displacement based on planned trajectories and to compare errors. This work serves as a reference for subsequent research on the dynamics and motion control of the press machine.