Motion And Dynamics Analysis And Controlling System's Research Of The Controlled Five-bar Mechanism

The controlled linkage mechanism is a kind of intelligent mechanism that one or several prime movement bars are controlled by computer so as to make the mechanism precisely realize any given motion. It has been a significantly practical problem to realize any given motion with precision in the field of mechanics, therefore the controlled mechanism and the controlled mechanics booms. The planner controlled five-bar mechanism a two freedom-degrees mechanism, in which one of initiative motion bar is moved at equal speed, the other controlled prime motion bar is controlled to make compensation movement according to given motion so as to realize any given motion precisely. Aimed at realizing any given motion with precision, this thesis will research to the controlled five-bar mechanism from the following aspects.1 Motion and dynamics analysis of the controlled five-bar mechanismIgnorance bar's elastic deformation, the intervals and friction between kinematics pair, analytic method is used to the controlled five-bar mechanism. After that basing on Lagrange equation, a mechanics model of controlled five-bar mechanism is built. And this model will be used to calculate the balance moment of initiative motion bar and the force of the controlled prime motion bar at any rotate speed.2 The study of the controlled five-bar mechanism's controlled systemThis mechanism uses electric driving. Controlling scheme uses PC + Turbo PMAC (1) motion controller and uses classic PID controlling algorithm. Harmonious motion of AC servomotor and linear motor has achieved through adjusting PID parameters.3 Four- bar mechanism and the controlled five-bar mechanism output tracks experiment Based on prime four-bar mechanism, the introduction of different compensationmovements will get different tracks. That shows that the controlled five-bar mechanism can realizes any given motion from the experiment precisely.