Motion control parameter calculating method of FET600 stretch forming machine

To realize reliable control of grip finger motion trajectory, a new method was proposed to calculate the motion parameter of FET600 stretch forming machine. The relationship between static coordinate system and dynamic coordinate system was established based on FET600 stretch forming machine mechanism, and the solving method for these two systems' relation matrix was analyzed. On this basis, the transformation model between motion trajectory and motion control parameter was developed. Comparison with an aircraft skin stretching forming experiment demonstrated that the proposed model had the high calculating precision, and could realize the accurate calculation of motion control parameter in stretching forming process.