Analyses And Experimental Study On A Hybrid-Driven Linkage Mechanism

Because its input motion can be adjusted flexibly through the software and controller, the hybrid-driven mechanism can respond to the functional requirement quickly, and accomplish diversiform tasks accurately. The hybrid-driven mechanism will find wide applications in the future.In this paper, firstly the kinematic and inverse-kinematic analyses of a plane closed-loop five-bar mechanism are carried out. The influences of input parameter to the output parameter for this type of mechanism is analysed, and a method for determining the law of input motion to this mechanism is put forward. Then, the actuating system for this hybrid-driven mechanism is designed, the PID law is introduced to control it, and a visual software system based on the Labview platform is developed. Finally, an experimental set up for this hybrid-driven mechanism is developed and a series of experimental researches have been done. The hybrid-driven control for this experiment mechanism is realized, and the result is satisfactory.