Study On Hybrid-driven Six-bar Mechanism

In the context that the rapid development of new technologies, such as electronics, information, control, drive, etc, the demands of modern machines to achieve one machine with more versatile, flexible output, to meet the functional requirements of an increasingly diverse became higher and higher. Intellectualization of machines, motion controllability, mechatronics are becoming the development characteristics of modern machinery. Essentially, these new features, new requirements, will be translated into new requirements for modern mechanism system to achieve controllable and adjustable movement output. In this condition, controllable mechanism came into being, became an important branch of modern mechanism, and became a new research area.Controllable mechanism only need adjust appropriately the control parameters of the drive components that can make quick response according to functional requirements. Hybrid drive mechanism is one of the importantest parts of controllable mechanism, and is the frontier issues of modern mechanism. It uses two motors as the drive at the same time (fixed speed motor and servo motor), that is to say, achieved the desired output trajectory through a multi-DOF mechanism with two different types of motors'input.The main research content of this paper as follows:First, analyzing configuration synthesis of planar six-bar mechanism by a method of generalized kinematic chain, on this basis, improving its structure after studying the limitations of four-five-bar mechanism and controllable five-bar mechanism, and then constructing a new type of hybrid-driven gear-linkage combination mechanism.Second, based on the study of hybrid-driven six-bar linkage's configuration, analyzing the mechanism's movable and singularity, getting necessary and sufficient conditions on existing three crank of controllable six-bar linkage, as well as singular and non-singular conditions, and deriving its position, velocity, acceleration formulas by analyzing its forward kinematics, inverse kinematics and dynamics. On this basis, the control strategies and control methods of the controllable six-bar linkage were studied, and the control system of controllable mechanism was designed.Finally, system modeling and simulation of the mechanism are been done by using ADAMS software. Application examples of the six-bar linkage verified the correctness of theoretical analysis by simulation. The results provided a theoretical basis for future applied research.