Study On Configuration Synthesis And Optimal Design For Hybrid Driven Mechanism

Hybrid-driven mechanism is driven by two types of motors, namely the general motor which provides the majority of driving power and the servomotor 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 anticipative output. The hybrid-driven mechanism can make up for the disadvantages of a conventional machine system that lacks of flexibility and a servo-motor driving mechanical system that will be a waste because of the excessive flexibility . This mechanism can solve contradictions between the mechanical flexibility and the high speed, high precision, high burden in theory. The research of hybrid-driven mechanism which is an important type of controllable mechanisms has already become the frontier area of mechanism. This paper has mainly researched the synthesis of mechanism, the innovative design and the optimized synthesis on the hybrid-driven mechanism.Firstly, the seven-bar and nine-bar kinematic chains with two-degree of freedom are taken as the objects. And their independent topological graphs have been attained by topological branch method. Then a certain method has been used to transform the topological graphs as the kinematic chains(basic kinematic chains).Secondly, based on the types of the degree of freedom that kinematic chain with, the kinematic chains with two-degree of freedom have been divided into three types including the kinematic chains with overall-degree of freedom, the kinematic chains with partial-degree of freedom and the kinematic chains with separation-degree of freedom. Hereby, the selection principles of the hybrid-driven mechanism were proposed.Thirdly, the five-bar and seven-bar kinematic chains which attained from the configuration synthesis are taken as the prototypes. A large number of new kinematic chains and new mechanisms obtained by kinematic pairs transforming, kinematic converting and deriving from kinematic chain. The new kinematic chains and new mechanisms can satisfy many design requirements of hybrid-driven machine systems.Finally, this paper established the mathematics models of RRPRR five-bar mechanism optimal synthesis with two-step synthesis method to realize the given function and given path. The dimension parameters and the compensation movement curve gained by using of MATLAB. The results of optimal synthesis examples verifies that the RRPRR five-bar mechanism is superior to single-degree of freedom mechanism in realizing the given function and the given path.