将伺服电动机驱动与双滑块六杆机构复合，利用伺服电动机的可控性和六杆机构的速度特性，实现拉深过程的变压边力控制。在综合考虑机构输出位移中的弹性位移和刚性位移基础上，建立压边机构输入输出关系的数学模型。当机构几何参数一定时，可根据压边力与滑块位移的关系并考虑机构的变形，确定压边机构的输入速度。为优化杆系尺寸，在考虑压边工作行程和传动效果良好的基础上，以机构输出速度与压力机滑块速度相差最小(在压边力施加阶段)，及机构总体尺寸最小为目标函数，优化确定了双滑块六杆机构的杆系尺寸。利用仿真软件，由前面建立的输入输出关系数学模型确定仿真输入速度，仿真结果表明，采用复合伺服驱动双滑块六杆执行机构实现压边力控制是可行的。

By using servo driving combined with six-bar mechanism and controllability of servo motor and the six-bar linkage’s speed characteristics, control of variable blank holder force during deep drawing process is obtained. Based on consideration of both of elastic displacement and rigid displacement, mathematic model of relationship between input and output speeds of the mechanism is established. Therefore, as the parameters of the mechanism are given, the input speed of the actuator for blank-holder force (BHF) can be determined according to the relationship between BHF force versus stroke and consideration of the actuator’s deformation. On the basis of considering the maximum blank holder stroke and good transmission results, taking the minimum error between the output speed and that of press slider (during blank-holder’s stroke) and the minimum linkage sizes as objective functions, the dimensions of double-slider mechanism with six bars are optimized. Using the simulation software and with input simulation speed determined by the mathematic model given above，the results show that it is feasible to realize control for VBHF by using double-slider mechanisms with six bars combined with servo driver.