Analysis And Synthesis Of Hybrid Five-Bar Mechanism

Hybrid Machine System (HMS) is driven by two types of motors, namely the real-time non-adjustable (RTNA) motor which provides the majority of driving power and the real-time adjustable (RTA) motor, which acts as a low power motion modulation device. These two kinds of inputs are combined by the multiple degree of freedom system to realize predictive trace. Compared with the HMS, the traditional machines driven only by RTNA are lacks of flexibility, the machines driven only by RTA have good flexibility, but the cost to build them is high and the excessive flexibility result in an inefficient energy consumption. This kind of controllable mechanism is the contemporary problem in the reasearch. field of mechanism.Based on the predecessor's work, I have done the follow jobs: Analyzed the rotatability laws for the five-bar mechanism. Inverted the five-bar mechanism to the virtual four-bar mechanisms and got the existence conditions of the crank. Respectively analyzed the kinematics and inverse kinematics in different ways. I chose ADAMS and optimization toolbox of MATLAB as tool to analyze and synthesize. Build a model in ADAMS, study and compare the influence of different parameters to the trace through emulation. Use the optimization toolbox of MATLAB to synthesize a hybrid drive five-bar mechanism to realize the preconcerted trace . Build a hybrid drive five-bar mechanism in ADAMS, parameterize the length of the bar, take the driving angle as the optimization target to optimize the mechanism and obtain a model that get better dynamics performance.