Optimal Design And Control Simulation For Hybrid Linkage Mechanism System

In recent years,the hybrid driven controllable mechanism is a leading issue in the research of institutional science.This paper proposes a flexible mode of motion by using a hybrid drive six bar device.The main components of the device include conventional speed motor,connecting rod mechanism,controllable servo motor,etc,in which the driving force of the system is mainly provided by conventional speed motor.The auxiliary power source and the regulating function are realized by the controllable servo motor.The connecting rod mechanism is the connecting mechanism of the two power devices,and the required motion output form is realized through the mixing of power.The six rod device is made up of a adjusting lever and five connecting rods,which can realize the same function of the connecting rod.The partial control of servo motor is realized.This kind of mechanism can not only fully meet the expected motion demand,but also show the advantages of good flexibility,simple structure,good applicability and so on.The hybrid driven controllable mechanism is aiming at the limitation of five-bar mechanism,a new six-bar mechanism is proposed to realize hybrid power regulation and control through optimization and improvement.First,on the basis of the research and analysis of the operation law of the six-bar mechanism,the mathematical model is constructed with the help of the loop vector method,and the Positive kinematics and inverse kinematics theories are used synthetically to carry out the research and analysis.The kinematics characteristics of six-bar linkage are grasped and the optimum design parameters are determined number.On the basis of dynamic analysis,Construction of Lagrange mathematical model to study the kinematic properties of the six-bar mechanism.Based on the comprehensive consideration of friction,external factors and system parameters,a dynamic equation is constructed.The motion characteristics of the device are systematically studied,data support is provided for the design of the control scheme,so as to complete the construction and analysis of the DC motor model.on the basis of confirming the nonlinear,time-variability and strong coupling of the six-bar mechanism,the control strategy of the mechanism is analyzed by means of the sliding mode variable structure method,and the research and analysis is focused on the suppression mode of the buffeting problem.With the help of the simulation tools,The simulation analysis of the mechanism is carried out,the feasibility and effectiveness of the design are clarified,and scientific guidance is provided for the practical work.