Journal of Advanced Mechanical Design, Vol. 2, No.

1, 2008

Systems, and
Manufacturing
Study of Servo Press with a Flywheel*
Pei-Lum TSO** and Cheng-Ho LI**
** Depatment of Power Mechanical Engineering, Tsing-Hua University
101, Sec. 2, Rd. Kuang-Fu, Hsinchu, Taiwan
E-mail: chengho@webmail.pme.nthu.edu.tw

Abstract
The servo press with a flywheel is able to provide flexible motions with
energy-saving merit, but its true potential has not been thoroughly studied and
verified. In this paper, such the “hybrid-driven” servo press is focused on, and the
stamping capacity and the energy distribution between the flywheel and the
servomotor are investigated. The capacity is derived based on the principle of
energy conservation, and a method of using a capacity percentage plane for
evaluation is proposed. A case study is included to illustrate and interpret that the
stamping capacity is highly dependent on the programmed punch motions, thus the
capacity prediction is always necessary while applying this kind of servo press. The
energy distribution is validated by blanking experiments, and the results indicate
that the servomotor needs only to provide 15% to the flywheel torque, 12% of the
total stamping energy. This validates that the servomotor power is significantly
saved in comparison with conventional servo presses.

Key words: Servo Press, Flywheel, Capacity, Energy Distribution

*Received 12 July, 2007 (No. 07-0302)
[DOI: 10.1299/jamdsm.2.1]
1. Introduction
The servo press provides flexible punch motions for production needs that considerably
improve stamping technology. For example, an enhanced forming result can be obtained by
utilizing a suitable punch speed and a dwelling duration to avoid faults such as cracks,
wrinkles and spring-backs (1)(2). The tool life may be extended by slowing down the punch
speed to lessen the impact (3), along with reducing the stamping noise as well (4). In addition
the adjustable punch stroke is helpful for raised productivity (1). In summary formability,
long tool life, low noise and high productivity can be achieved by applying the servo press
on stamping operations.
Conventional servo presses in the market are driven by a servo motor(s), and their drive
systems are usually link-drive or screw-drive (5). The link-drive servo press is similar to a
normal mechanical press, but the flywheel and clutch assembly is replaced with a
servomotor. The screw-type servo press transmits the servomotor’s rotation to a ball screw
through a timing belt, and then generates the punch linear motion. Although these
conventional servo presses are new-versatile stamping machines, they will not replace all
mechanical presses (6). The reason is that these servo presses do not use a flywheel for
energy accumulation, and this sometimes creates limitations on the capacity. In other words,
dealing with the instantaneously considerable stamping force and energy becomes an issue
for such presses. A potential solution may involve applying a large or multiple servomotors
but that is considered uneconomical.
To improve the capacity and to save servomotor energy, a novel concept of a
hybrid-driven servo press which has a flywheel and utilizes a 2 degree-of-freedom (DOF)
linkage has been researched. Such a servo press consists of a seven-bar linkage, and there
are two inputs: one is a rotating flywheel driven by a normal AC motor, and the other is a
servomotor. Some relative works have been published. Du et al. (7) derived the assembly and

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing
double-crank conditions for evaluating the feasibility of the linkage, and Tso et al. (8)
proposed an analytical synthesis method of the linkage having a double-toggle property for
great mechanical advantage. The mechanical advantage, torque distribution and power
distribution for the hybrid-driven servo press have been derived by Du et al. (7), based on
statics. The motion control issue has also been studied by Guo et al. (9) and Tso et al. (10) ,
but the actual performance of stamping capacity and energy distribution of the inputs have
not been deeply researched.
While using this kind of servo press with a flywheel, if the flywheel could effectively
release its kinetic energy and supply the maximum amount of torque and energy required
for stamping, not only could improve the press capacity, but also would save a lot of cost
for the large servomotor(s). To justify these merits, the mechanics of the hybrid-driven
servo press should be investigated. In this paper, the torque and energy distributions are
estimated from the energy conservation aspect. A capacity percentage plane is presented,
which helps to quickly evaluate the capacity performance of any generated punch motion.
The comparison of capacity between link-type, screw-type and the hybrid-driven servo
presses are discussed in a case study. Moreover, experimental validations have been
conducted. The results show that the capacity of the hybrid-driven servo press is highly
dependent on its punch motions. The servomotor torque is 15% compared with the AC
motor torque, and the experiments proved that the flywheel and the AC motor could provide
on average 88% stamping energy in a blanking process.
This paper is organized as follows: An introduction and the basic kinematic model of
the hybrid-driven servo press are given in the section 2. Section 3 proposes the derivations
of the torque distribution and the stamping capacity. In section 4, a case study is given, and
a capacity percentage plane is presented, different types of servo presses are compared in
their capacity performance. In section 5, the blanking experiments on a servo press
prototype are carried out for validation. The conclusions are presented in section 6.

2. Hybrid-driven Servo Press Mechanism

In this study, a servo press with a
flywheel is considered. The servo press
consists of a seven-bar linkage
mechanism with 2 DOF, and its kinematic
diagram is illustrated in Fig. 1. The pivots
A and F are ground pivots. The pivot A is
defined as the origin of the Cartesian
coordinate system X-Y, and the vector g
represents the gravitational direction.
Each bar of the linkage is described by the
relative position vector rk, where the
subscript k is the link number. The
symbol θk represents the standard position
angle of the vector rk. The vectors s and b
are the position and the offset of the slider
respectively.
Link 1 is the frame link, and the
seventh link member (link 7) is the slider Fig. 1 Schematic linkage diagram of
connected to the joint D. Links 2 and 5 the hybrid-driven servo press
are the input-links, and through the
connecting links 3, 4 and 6, the slider D The input-link 2 is powered by a
produces the output punch motion. flywheel, which is driven by a regular AC

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Journal of Advanced Mechanical Design,
Systems, and
Manufacturing
motor. Meanwhile, the input-link 5 is
directly driven by a servomotor with
programmed-variant speeds.
A punch stroke is accomplished each
time the link 2 goes through a revolution.
Therefore, the operating speed of this
kind of servo press– stroke per minutes
(SPM) equals to the revolution per
minutes (RPM) of the link 2. With the
Vol. 2, No. 1, 2008
The punch position can be expressed
by a function of the input angles, as
shown in Eq. (4). Similarly, if one intends
to acquire the servomotor angle of θ5, the
Eq. (5) can be employed. The detailed
derivation is given in the reference (8).
(
s = s θ 2 ,θ 5 ) (4)

θ 5 = θ 5 (θ 2 , s )
combination of a flywheel and a
(5)
servomotor for the inputs, such servo
press is named “hybrid-driven”. The
corresponding input torques are indicated
3. Capacity of Hybrid-driven
by T2 and T5, and the reaction force of the
stamping action is P. Servo Press
To understand the mechanics of the
2.1 Kinematic Vector Equations hybrid-driven servo press, it is essential to
realize the relationship between the input
A planar mechanism can be
torques and the output force. The
represented by a general chain, consisting
servomotor’s torque capability and its
of one or more loops of successive
reduction ratio should be considered to
bar-slider members. The seven-bar
estimate the servo press’ capacity. In this
linkage as shown in Fig. 1 can be divided
section, the relationship between the input
into two loops: the first loop equation
torques and the output force is derived,
(A-F-E-C-B-A) can be expressed in the
since it is critical for evaluating the
form of complex numbers, written as
capacity of the hybrid-driven servo press.
Eq. (1), and the second loop equation
The mechanical advantage of the
(A-B-C-D-A) is written as Eq. (2). Each
servomotor input is introduced to
link vector is represented by rk = rk eiθκ, in
calculate the maximum stamping force at
which the term eiθ is Euler identity.
a specified position in the punch stroke.

r1 e iθ1 + r5 e iθ5 + r6 e iθ 6 − r3 e iθ3 − r2 e iθ 2 = 0 (1)

3π
r2 e iθ 2 + r3 e iθ3 + r4 e iθ4 − be i⋅0 − se
i⋅
2
=0
For a kinematic analysis problem, θ2
and θ5 are regarded as the inputs, s is the
output, of these are the independent
variables, and the angles θ3, θ4 and θ6 are
the dependent variables. r1, r2, r3 r4, r5 and
r6 are the link lengths, b is the offset, and
θ1 is the frame link’s orientation, of these
are the constant parameters. The
relationship between the independent
variables can be expressed in a general
form as written in Eq. (3).
3.1 Torque Distribution
(2) Referring to Fig.1, the input torques
are represented by T2 and T5,
corresponding to input-links 2 and 5
respectively. The output force P applied
on the slider is in regard to the stamping
load. By using the principle of energy
conservation, the relationship of the input
torques and the output force can be
written as Eq. (6), in which dθ2, dθ5 and
ds are infinitesimal angular and linear
displacements.
T2 dθ 2 + T5 dθ5 = Pds (6)

( )
f θ 2 ,θ5 , s = 0 (3) In Eq. (6), the mass of the linkage
and ram are not considered since they are

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing
often negligible in comparison with the
1 (11)
large stamping load. From Eq. (4), the (MA)2 =
punch position is a function of θ2 and θ5, ∂s
hence its total differential can be ∂θ 2 θ 2 =θ 2*
θ5 =θ5*
expressed as Eq. (7). Substituting Eq. (7)
into Eq. (6), the equality could be
1 (12)
obtained as Eq. (8). (MA)5 =
∂s
∂s ∂s (7) ∂θ 5 θ 2 =θ 2*
ds = dθ 2 + dθ 5 θ5 =θ5*
∂θ 2 ∂θ 5
The torque requirement for each
 ∂s   ∂s 
T2 dθ 2 + T5 dθ 5 =  P  dθ 2 +  P  dθ 5 input could be easily evaluated by using
 ∂θ 2   ∂θ 5 
Eqs. (9) and (10), also the press capacity
(8) can be estimated by employing Eqs. (11)
and (12) of transmission characteristics.
Comparing the both sides of Eq. (8),
3.2 Stamping Capacity
the input torques T2 and T5 can be written
as Eqs. (9) and (10) in terms of the output The investigated hybrid-driven servo
load P and the partial derivatives of the press is actuated by two sources: a
punch position function s. θ2* and θ5* are flywheel driven by an AC motor and a
the actual input-links’ angles. servomotor. Supposing that the flywheel
ought to sufficiently provide a great
torque and power during the stamping, it
∂s (9)
T2 = P is reasonable to assert that the press’
∂θ 2 θ 2 =θ 2*
θ 5 =θ 5* capacity would be dominated by the
torque ability of the servomotor.
Reviewing that the servomotor drives the
∂s (10)
T5 = P input-link 5, the capacity equation of the
∂θ 5 θ 2 =θ *
2
θ 5 =θ *
5 hybrid-driven servo press can be written
as Eq. (13).
Referring to Eqs. (9) and (10),
besides the output force P, it is clear that
(T5 ) r × R (13)
the values of the input torques depend on Pc =
(MA)5
the actual input-links’ angles θ2* and θ5*.
This implies the transmission ability of
the inputs is a function of two In Eq. (13), Pc means the capacity of
independent variables for the the servo press, and (T5)r represents the
hybrid-driven servo press that is different maximal rated torque of the servomotor;
and more complex to conventional servo R represents the reduction ratio, and
presses. Here, an index of merit– the (MA)5 is the mechanical advantage of the
mechanical advantage of the input-link 5, as written in Eq. (12).
hybrid-driven servo press mechanism can It is noticeable that the capacity
be obtained. The mechanical advantages equation is also a function of two
for the two inputs are the reciprocals of variables of input-links’ angles. Hence,
the partial derivative terms in Eqs. (9) and for any two differently generated punch
(10). For the input-link 2, its mechanical motions, their capacity performances
advantage at the actual input angles of would differ. That is completely
(θ2*,θ5*) can be expressed as Eq. (11), and dissimilar to conventional servo presses.
similarly the Eq. (12) is the mechanical In other words, there is no unique
advantage for the input-link 5. capacity and rated capacity point for this
kind of hybrid-driven servo press.

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing
4. Case Study
In this section, an example of studying the stamping capacity of the hybrid-driven
servo press is illustrated. The results are represented on a capacity percentage plane, which
allows one to understand the capacity performance of flexible motions on the hybrid-driven
servo press with a flywheel.

4.1 Dimensions of Hybrid-driven Servo Press

The dimensions of the hybrid-driven servo press for the case study are listed in Table 1,
and the dimensional synthesis can be referred to the authors’ previous research (8). In Table 1,
Fx and Fy represent the coordinates of the F ground pivot, i.e., link 1 has a length of
288.87 mm with a fixed orientation angle of 252°. Other symbols are as defined in Fig. 1,
section 2.

Table 1 Dimensions of hybrid-driven servo press

Fx Fy r2 r3 r4 r5 r6 e
Length
-89.27 -274.73 50.00 257.22 292.78 54.95 149.95 0
(mm)

The hybrid-driven servo press mechanism in the example has a maximal stroke of
140 mm, and the slider reaches the top dead center (TDC) while θ2=115° and θ5=25°, and
reaches the bottom dead center (BDC) while θ2=270° and θ5=160°. While the punch is at
the BDC, the linkage exhibits a double-toggle property which offers an extremely great
mechanical advantage.

4.2 Capacity Percentage Plane

The relationship between the input torques and the output force are derived in the
section 2. As mentioned previously, the capacity of the hybrid-driven servo press is actually
dominated by the servomotor’s torque ability, (T5)r, and the reduction ratio, R, between the
servomotor and the input-link 5. The maximal output force can be calculated by Eq. (13).
To clarify the individual property of capacity of the hybrid-driven servo press, the capacity
percentage, η, is defined by the following Eq. (14), and a characteristic plane that interprets
the property is plotted, as shown in Fig. 2.

Pc (14)
η (%) =
Prated

In Eq. (14), Pc can be obtained by using Eq. (13). The Prated is the rated capacity that is
associated with the structural strength of the press machine. In this case study, the rated
capacity is 30 kN; the servomotor provides a maximal torque of 14.4 N·m, and the
reduction ratio is 25. The fraction of Eq. (14) indicates the percentage of the actual-output
capacity to the rated capacity.
Since the maximal output force is a function of the input-links’ angles, θ2 and θ5, η is a
two-variable function as well. Substituting the mechanism dimensions into Eq. (14), a
capacity percentage plane of the hybrid-driven servo press can be graphed on the θ2-θ5
plane as in Fig. 2.

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing

Fig. 2 Capacity percentage plane of the hybrid-driven servo press

In Fig. 2, the horizontal axis represents the input-link 2 angle, and the vertical axis
represents the input-link 5 angle. Each ordered pair on the θ2-θ5 plane can yield a capacity
percentage (η %) by employing the Eq. (14). There are five separated regions representing
different levels of the capacity percentage, including 0-25 %, 25-50 %, 50-75 %, 75-100 % ,
100 %, and it is obvious that the capacity of the hybrid-driven servo press depends on the
values of input-links’ angles. In the A region, the capacity percentage is 100%, which means
the servo press provides a full rated capacity of 30 kN while the input-link angles locate at
this region. However, a complete rated capacity cannot be fulfilled in any other region; for
instance, in the region C only 50-75 % to the rated capacity can be produced.
Based on the proposed capacity evaluation method, it is found that once the link
dimensions, the servomotor and the reduction ratio are decided, the capacity percentage
plane becomes an inherent property of the hybrid-driven servo press. Therefore, to properly
use the hybrid-driven servo press, it is very important to establish the capacity percentage
plane for evaluating the output stamping force before employing an expected punch motion.
Otherwise, the press may be not able to accomplish the stamping without sufficient output
force. The proposed idea of the capacity percentage plane can be embedded into the servo
control system for on-line evaluation, and this helps the press user to judge the feasibility of
the punch motions or to revise the punch motion accordingly. Some examples are given in
the next section.

4.3 Capacity Evaluation

The presented capacity percentage plane is important for evaluating the ability of
accomplishing the stamping at a specified punch motion. For example, three different punch
motions are assigned and to be performed by the hybrid-driven servo press. These motions
are showed in Fig. 3. Having used Eq. (5), the motion of input-link 5 can be obtained. Each
relationship of the input links, fulfilling the punch motions, can be plotted on the capacity
percentage plane as shown in Fig. 2.

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing

Fig. 3 Punch motions for case study

Referring to Fig. 2, there are three input motion curves 1-3 on the plane, plotted by a
dashed line, a dash-dotted line and a solid line respectively. When the servomotor rotates to
have the input-link 5 following the input motion curves, the punch will trace the desired
output motions in Fig. 3. These input motions are laid on the capacity percentage plane for
evaluating the stamping capacity. Practically speaking, the capacity at the punch positions
close to the BDC is particularly important since that is where the stamping actually acts. As
for the input motion 1, the BDC occurs at the point indicated by P1, which is located at the
region C with the capacity percentage of 50-75 %. It is observed that when the punch
moving toward to the BDC point P1 , the input motion curve is in the range of the region C,
and this implies while the motion 1 is utilized for stamping, the maximal output force could
not exceed 22.5 kN, the 75% of the rated capacity of 30 kN. Similarly, the input motion 2
has the BDC position P2 lying on the region D, with the capacity percentage of 25-50%, and
this implies that the punch motion 2 can provide the maximal output force of 15 kN. As for
the input motion 3, the BDC position P3 is located at the region A with 100 % capacity
percentage; a full rated capacity of 30 kN is guaranteed for the punch motion 3.

Fig. 4 Stamping capacity vs. punch position diagram

The comparison among different servo presses’ capacities can be illustrated as Fig. 4.
Five cases are included as indicated; the motions 1-3 are for the studied hybrid-driven servo
press, and the other two are for the conventional link-type and the screw-type servo presses.
It is shown that the hybrid-driven servo press has a particular property on the capacity. The
motion 1 and motion 2 provides a 25-75% of the rated capacity of 30 kN, but the capacity
does not decrease rapidly with the increasing distance to the BDC. Also, the motion 3
sufficiently offers a 100% rated capacity, and maintains the capability within a wide range
of 25 mm distanced from the BDC. As for the other servo presses, the link-type one usually
offers its full capacity within 5-7 mm from the BDC. Although the screw-type one provides
a stable stamping force, its capacity is limited by the ball screw’s strength (5).

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing
As a result, the stamping capacity of the hybrid-driven servo press is highly dependent
on the punch motion; different punch motions create different capacities. Compared to
conventional servo presses, the hybrid-driven servo press is more capable of delivering its
capacity for a longer distance; additionally the servomotor only needs to provide less energy
in stamping out of the use of a flywheel. Nevertheless, the punch trajectory planning is a
challenging task, in order to meet both manufacturing needs and energy efficiency purpose.
According to the authors’ updated finding, the hybrid-driven servo press exhibits a great
mechanical advantage while the punch position is approaching its work space boundary (the
envelope of all possible punch motion trajectories) (8), the motion 3 in Fig. 3(c) was decided
accordingly. The systematic procedure to decide an efficient trajectory should be studied

5. Experimental Study
The torque and energy distributions are studied experimentally in this section. A
blanking process is conducted. The input torques and the output force are measured and
compared during the stamping. Energy contributions of the AC motor, the servomotor and
the flywheel are discussed according to the experimental data.

5.1 Servo Press Prototype and Tooling Conditions

A real prototype of the hybrid-driven servo press was constructed. The appearance of
the hybrid-driven servo press system is shown in Fig. 5.

Fig. 5 Appearance of hybrid-driven servo press prototype

Two motors are required to drive the press. One is a 2-kW AC motor, and the other is a
1-kW servo motor. As shown in Fig. 5(b), a flywheel is connected to a pulley which is
driven by the AC motor through a belt. The speed reduction ratio is 20 for the AC motor to
the input-link 2, and 25 for the servo motor to the input-link 5. Two angular encoders, with
the resolution of 104 pulse/rev, are installed at the input links. A linear scale is attached on
the ram as a punch displacement sensor with the resolution of 1 µm and the accuracy of 5
µm. A dynamometer is installed for sensing the stamping loading. These sensors offer
information for a PC-based control system using a feedback control scheme (10). The control
system consists of a 6-axis motion control card and the software developed by using
Borland C++ Builder®.
The blanking experiments were conducted under the following conditions: The punch
diameter is 15.00 mm, and the die-hole diameter is 15.10 mm resulting in a clearance of 50

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing
µm, 10 percent of the copper sheet thickness of 0.5 mm. The punch motion 3 in Fig. 3(c)
was adopted and performed on the servo press prototype, operated at the rate of 10 SPM
with a corresponding blanking speed of 27 mm/s. Such blanking action was performed to
provide a practical stamping load onto the servo press machine, then during the working
period, the input torques were measured by torque sensors, and the blanking force was
monitored by a dynamometer. The recorded data would help testifying the energy
distribution of the hybrid-driven servo press, and the energy contribution from the flywheel
could be gauged to verify the advantage of such new type of servo press.

5.2 Experimental Results

In Fig. 6, the input torques and stamping force of the blanking experiments are plotted.
The bottom axis is the punch displacement, measured from the contact position at which the
blanking begins. The solid, dashed, and dash-dotted lines represent the blanking force, the
AC motor torque and the servomotor torque, respectively. The force and torque are scaled
on the left and right axes in kN and N·m respectively.

Fig. 6 Stamping force and motor torque vs. punch displacement

The result indicates that the blanking force typically increases with the punch
displacement, reaching the maximal force of 2.24 kN and drops while the blank is torn up at
the displacement of 0.45 mm. The AC motor torque reaches the maximal torque of 9.1 N·
m, and the servomotor torque is always less than 1 N·m, which is less than 15% of the AC
motor torque on average. This implies that the most torque contribution for the blanking is
taken advantage from the input-link 2 driven by the AC motor with a flywheel, and it
explains why the motion 3 possesses a great capacity as described in the previous section.

Estamping = W ACmotor + Wservomotor + KE (15)

The relation between energy and work can be expressed as Eq. (15), with the
assumption of neglecting the non-conservative effects such as friction and heat. In Eq. (15)
Estamping is the totally stamping energy; WACmotor is the work contributed by the AC motor;
Wservomotor is the work contributed by the servomotor, and KE is the kinetic energy of the
moving linkage and flywheel. Based on the results shown in Fig. 6, the energies provided
by the motors (WACmotor and Wservomotor) and consumed by the blanking action (Estamping) can
be straightforwardly estimated by numerical integration. That is, the total blanking energy
can be evaluated by integrating the force with respect to the punch displacement, and the
driving motors’ energies can also be estimated by integrating their torques to angular
displacements. All approximate integration values were obtained numerically by applying
the trapezoidal rule.

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Journal of Advanced Mechanical Design, Vol. 2, No. 1, 2008
Systems, and
Manufacturing
Having numerically calculated each term in Eq. (15), the result of the energy
distribution can be presented by a sector breakdown, as shown in Fig. 7. The total blanking
energy is reasonably assumed from the following sources – the flywheel’s and linkage’s
kinetic energy (KE), the AC motor (WACmotor) and the servomotor (Wservomotor). As indicated
by Fig. 7, the AC motor and the servomotor accounted for 35% of the total blanking energy,
and the remaining 65% can be considered as the contribution of the flywheel and the
linkage inertia. Beyond this, the servomotor provides only 12% to the necessary blanking
energy. This experimental result proved that on the hybrid-driven servo press, the most
stamping energy was taken by the flywheel and a relatively cheap AC motor, and the
servomotor contributed only a small part of energy. This means it is energy saving and cost
reducing in comparison with applying expensive high-power servomotors for improving
press capacity. From the other aspect, using the hybrid-driven servo press could provide
much greater energy capacity compared with those directly driven by servomotor(s) without
a flywheel.

Fig. 7 Energy distribution of the hybrid-driven servo press

6. Conclusions
In this paper, a hybrid-driven servo press with a flywheel is studied. The torque
distribution and the stamping capacity are derived, and it is shown that the hybrid-driven
servo press’ capacity is not unique but is highly dependent on the specified punch motions.
A capacity percentage plane is proposed that offers a solution for efficiently evaluating the
stamping capability, clearly illustrated in the given case study. Blanking experiments have
been carried out on a servo press prototype. The results indicate that the servomotor only
has to provide small contributions to torque and energy, that is, 15% to the AC motor torque
in average and 12% to the total blanking energy. In summary, when using the servo press
with a flywheel, a small servomotor is required, but heavy-load and large-energy stamping
task can still be achieved, and the servomotor power is significantly saved in comparison
with conventional servo presses.

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