Synthesis Involve The Integration Of Both Mechanism And Control Design Of Hybrid Five-Bar Linkages

The synthesis of hybrid planar five-bar mechanism with a new design methodology, design for control(DFC) , has received attention from moer and more researchers. The thesis presents the DFC synthetic methodology of hybrid planar five-bar path generating mechanism. And this thesis also proposes a design procedure involves the integration of both mechanism and control design on the condition of decoupling and configuration-invariance of potential energy. The main content of this thesis is as follows:1. In order to obtain a smooth motion characteristics of servo-motor which will facilitate the design of controller, the servo-motor motion is planned with Bezier curve; the unconditional two-cranks mechanism is chosen as the type of planar five-bar mechanism to synthesise. The restriction of the optimization are deduced from above. The goal function of kinematics is the position error as the sum of the distance at each desired time between end effecter and the precision points, which define the desired motion of the mechanism.2. After the generalized dynamic function of planar five-bar mechanism has been deduced, the conditions of decoupling and configuration-invariance of potential energy are proposed. Then the dynamic function of planar five-bar mechanism will be simplified.3. when the dynamic function has been simplified, a simple PD control algorithm is applied to control the planar five-bar mechanism. For the numerical solutions of the dynamic equation, the fourth-order Runge-Kutta method is used. The the motion of the end effecter and the maximal input moment is abtain from the simulation result.4. the DFC synthetic methodology involves the integration of both mechanism and control design is applied to the design of planar five-bar mechanism. Having established the integrative optimization model, differential evolution algorithms search the solution space of the objection function. Then synthesise the planar five-bar mechanism with sequential optimization . sequential optimization on the conditions of decoupling and configuration-invariance of potential energy. The simulation result verify that the proposed methodologywill reduce the motion error and the maximal input moment, and improve the motion-tracking performance of the mechanism.