A Novel Application Of ADT To A Test-Bed For Hybrid Drive Machines

Hybrid actuation machine systems have two types of motors:constant velocity motor and servo regulated velocity motor. Hybrid actuation systems provide a middle ground between the traditional inflexible machines and the modern flexible robots. Study on the hybrid actuation machine will be extremely promising.Due to the complexity of the dynamic model of a hybrid actuation mechanism and the uncontrollable nature of the CV motor, the design of this structure is challenging and difficult task. As there is always gap between theory and practice, it is necessary to test out theories by experiment. The objective of this research is to design general experimental system for hybrid actuation mechanisms on which various experiments can be carried out.This thesis is focused on the design for hybrid actuation experimental system, including hardware and software. Hardware provides user to carry out experiment. Software performs as service to provide user information before experiment. Relevant design theories were studied and axiomatic design theory was applied to guide the conceptual design from function to structure. Behavior analysis of hybrid driven five bar mechanism was studied by forward and inverse kinematics, dynamics model. Relevant programs are designed to meet experimenter’s information needs for workspace, global kinematics index, trajectory and joint angles. To support experiment in structural optimization in dynamics performance, vibration force balance and dynamic decoupling were studied. The simulation model is built as a supplementary means for experimental study.