Track Synthesis And Intellectual Control Of Planar Five Rod Mechanism

The planar five rod mechanism which has two degrees of freedom is very complex, and research on it is deficient. In this paper, the track of the five rod mechanism is studied, and the emphases of study are on the theory and practice.The paper introduces the development of multi-degree freedom mechanism. The problem of "How to calculate the position of point on linkage rod if the length of all rods and their position were given?", "How to calculate the position of five rods if the position of point on linkage bar were given?", the number of point of intersection of the track, and the path in a plane are studied in theory in this paper.In practice, the control system of five rod mechanism is designed and made. It includes the design of mechanical part, appearance, power supply, step-motor drive, data collection part, serial communication, input and out put part. The circuit board of step-motor drive and the control system which uses new MSP430 MCU as its core are made. Protel is used as a circuit boards design tool.The controlling program in MCU part is designed, and it includes the part of step-motor controlling, data collection of the coders, RS232 communication, keyboard input, and LCD output. The pulse merging method of using one MCU to collect two coders' data simultaneously is put forward. The program has the function of controlling the two motors run at constant angle speed. It also has the function of teaching and intellectual controlling when the MCU is associated with computer via serial port.The controlling program of five rod mechanism in windows is developed in C++ in C++ Builder development environment. It can simulate five rod mechanism in computer, control the five rod mechanism instrument via serial port, record the teaching data and analyze it, and build the controlling data of any kind of track to drive the five rod mechanism instrument.