Combined simulation method for die-casting mould pick-up manipulator

The invention discloses a combined simulation method for a die-casting mould pick-up manipulator. According to the method, firstly, aiming at the main structure of a pick-up manipulator produced by adie-casting mould, the structure size of a main part and the overall working space of the manipulator are determined. Secondly, based on the combination of the structure dynamics and the control dynamics, a PD controller of each joint is established. In this way, the main control parameters of a control system are obtained. Finally, the simulation optimization is carried out on the established parameters of the controller. The parameters of the controller, after the simulation optimization, are applied to a motion controller of the manipulator. The test shows that, the manipulator system is better in trajectory tracking characteristics and fast response characteristics by adopting the parameters of the controller after the simulation optimization. As a result, the method provides a foundation for the accurate cont