Study On The Hybrid Driven Mechanism Of Flat Five Linkages To Achieve D-shaped Trajectory

In recent years, Chinese packaging market has developed rapidly. But the domestic packaging machinery industries take production seriously and look down on the product research and development, so products upgrade slowly. With the INDUSTRIE 4.0 era, packaging machinery is developing toward the directions of flexible and intelligent. If we do not take the appropriate measures, it will be difficult to meet the market demand. In this paper, D-shaped trajectory is studied, which is the typical trajectory of the packaging machinery, to find a good way to design the mechanism flexibly.For a typical D-shaped trajectory of twist-type candy packaging machine pusher mechanism, we use the traditional cam- linkage combined mechanism to complete. Then we build the mathematical model and analyze the velocity, acceleration, and other motion characteristics of the cam and link mechanism. For a double D-shaped trajectory of transverse sealing mechanism for pillow packaging machine, we use crank-slider-lifting combined mechanism to complete with two servo-motors. We set up the mathematical model and analyze the moving characteristics of the mechanism. Finally, we summarize the advantages and disadvantages of the two types design methods and motion characteristics. Traditional mechanism has stable running but poor flexible and multi-servo drive mechanism has large flexible but high cost.Using 4R1 P hybrid driven mechanism to achieve the preset D-shaped trajectory and flexible output trajectory. Referencing to the previous research achievements, this paper analyses the Grashof properties of hybrid driven mechanism of flat five linkages. Based on the literature data, we draw the output workspace of corresponding type of mechanism.This paper achieves the preset trajectory of 4R1 P hybrid driven mechanism of flat five linkages with the synthesis methods of two steps. The first step, we use MATLAB to comprehensive an initial four organizations to achieve preset trajectory at greater approximation. The second step, we use the controlled slide to compensate the previous trajectory. The amount of compensate varies within the range between-11.43 and 59.36 millimeter. Root mean square decreased 13.89 percent of the previous trajectory. Linear deviation of compensated trajectory is 22.87 percent of the previous trajectory. It has a significant effect. But, there is no obvious change in contour deviation because it relates to the workspace and other factors.Finally, we analyze the reason of the two type errors of mechanism output trajectory and propose improved methods. Get the critical parameters of the dimension, which has the great influences on the accuracy of the mechanism. And, achieve the error curve of the output of mechanism with the 10 dimension parameters.In this paper, we use 4R1 P hybrid driven mechanism to achieve the preset D-shaped trajectory and flexible output trajectory. Each point has the same time interval after optimization. We achieve different D-shaped flexible output trajectory by adjusting the amount of compensation of the controlled slide. We can control the runtime by adjusting the number of points of the line segments and curve segments.