Control of a multi-degree of freedom worktool for vibrations assisted forging

This paper addresses the control of a tool developed to superimpose vibrations along several directions on a piece during forging. Piezoelectric actuators are used to provide the required forces and speeds. Due to the minute displacements of the actuators, flexible hinges are used in a special arrangement in order realize the specified movements and to ensure controllability. The experimental results confirm the approach.