Study Of The Hybrid Driven Controlled Mechanism

Hybrid-driven and controlled mechanism is the contemporary problems in theResearch field of mechanism. It is driven by constant speed motor and servomotor. Inputsfrom a uniform constant speed motor and a programmable motion servomotor would, besummed in a multiple degrees of freedoms at the output of the linkage. In this machine, theconstant speed motor supplies the main torque and power, while the servomotor, whichsupplies a little part of torque and power, adjusts the output motion. This mechanismmakes up the disadvantage of a conventional hard machine without any flexibility;meanwhile it also reduces the cost because many applications don't require much moreflexibility. This mechanism can deal with contradictions between the programmableflexibility and the high speed, high precision and high load in the theory. This mechanismhighlights the idea for the modern machinery design. In this paper, after summarized theresearch results of Forefathers, through studied operation principle of hybrid-driven andcontrolled mechanism and Characteristic of similar four-bar and five-bar mechanism, putforward the idea of hybrid-driven and controlled six-bar mechanism. This research ismainly around this mechanism. Research content is focused on the followings.Firstly, Set out from the assembly conditions, on the basis of studying the conditionfor existence of double crank of hybrid-driven five-bar mechanism, this paper studied themove-ability problem of hybrid-driven and controlled six-bar mechanism with workspacemethod. Got the sufficient and necessary conditions for existence of three crank andconditions for existence of inverse kinematics solution. On this basis, researched theproblem of workspace further.Secondly, Established the mathematics model of forward kinematics analyses. Theinfluence parameter of velocity characteristic was classified. They include structureparameter, adjustable parameter and controlled parameter. Through theory analysis andcomputer simulation, got the trend of different parameter influence on the moving trackand velocity characteristic of hybrid-driven and controlled mechanism. Compared therelation between primary and secondary that these parameters influence to the movementcharacteristic. Find out the sensitive parameter.Thirdly, this paper established the mathematics model of dynamic analyses. Themechanism is analysized dynamically with matrix method. When the motion state andWork friction of mechanism is known, got the balancing torque of motor and Constraintforces of kinematic pair. Analysized the variations of torque and power distributionsituation when the size of pole, preliminary angle and direction of work friction waschanging. Got the trend of different parameter influence on torque and power distributionsituation of hybrid-driven and controlled mechanism. Finally, this paper presents the optimal synthesis of hybrid-driven and controlled six-bar mechanism. Regard different tasks of track generating as the goal, set up differentoptimal synthesis model on the base of inverse kinematics analyses. Offered the theorymethod for the optimal synthesis of hybrid-driven and controlled six-bar mechanism. Theresults of optimal synthesis examples verifies the exactness of conclusions obtained andsuperiority of hybrid-driven and controlled six-bar mechanism...