针对锻造操作机动作功能多、系统复杂、多领域模型耦合的特征,基于虚拟样机技术对锻造操作机的机械系统和液压控制系统进行了建模。采用模型接口的方法搭建了锻造操作机多学科领域协同仿真模型。研究了锻造操作机大车行走、夹钳旋转和夹钳平行升降3个主要动作的稳定性、准确性和快速性。结果表明,该方法可行,对于锻造操作机液压控制系统的优化设计具有一定的理论指导意义。 Aiming at the characteristics of forging manipulator with many functions, complex system and multi-domain coupling, the mechanical system and hydraulic control system of forging manipulator are modeled based on virtual prototype technology. The multi-disciplinary collaborative simulation model of forging manipulator was built by the method of model interface. The stability, accuracy and quickness of the three major operations of wagon operator walking, clamp rotation and clamp lifting are studied. The results show that this method is feasible and has certain theoretical significance for the optimization design of hydraulic control system of forging manipulator.