Research On The Controlling And Performance Of Hybrid-Drive Linkage Mechanism With Composite Component

Although with many advantages, Flexible mechanical system needs heavy investment. Traditional mechanical system fits for scale economy, but it is not flexible. By using uncontrollable motor and controllable motor together, hybrid-drive mechanism combines two types of inputs and gets output needed, which makes it widely used in automation machines.The simplest hybrid-drive mechanism is five-bar linkage mechanism, which is used in this dissertation as execution mechanism. Present researches focused mostly on the mechanism mobility. Among those who researched the auxiliary motion controlling, they emphasized not on the control system performance but feasibility. In-depth research on the control system is carried in this paper. The system discussed is an AC servo system, which needs high following precision. Through surveying and comparing, the least beats and no wave control system is used to control auxiliary motion to get good performance.Linkages are all made of metal in present researches. Metal linkages are cheap but heavy. Therefore, servomotor needs more power to drivethem. It makes controlling more difficult. Approaches must be carried to deal with this problem. In this paper, metal material, nylon plastics, phenolic cotton cloth laminated tube and 3-D composite material is respectively used as one of the linkages. We compare these four systems to test the performance of light material in mechanism. We draw the conclusion that nylon plastic and phenolic cotton cloth laminated tube are helpful to control system. 3-D composite material can't be used in the industry for the limiting of curing tech.For increasing the performance of whole system, reliability design method is applied throughout the paper.In the last of the paper, we collect the output error data of traditional hybrid-drive linkage mechanism. Systematic error is proved existing by statistical analysis. Multiple linear regression method is applied to analysis systematic error, which leads to a satisfying model and an approach to improve the output precision.