The Control And Experiment Research Of Hybrid Driven 5R2P-Type Planar Parallel Mechanism

Hybrid driven mechanism is a kind of controlled mechanism. Compared with traditional mechanism, hybrid driven mechanism can realize machine's working flexibility by adding one or more new controlled motion DOF. Theoretically, it can realize the stamping process with low cost,programming and big power, and can reappear the planar trajectory in a high precision. The paper presents a hybrid driven 5R2P-type planar parallel mechanism with two-DOF. We use the combination of theory research and experiment test, mainly solve the related problems of the mechanism control in a way of high speed and high accuracy. The problems include the trajectory plan,basic analysis of dynamics,kinematics calibration of mechanism parameter,the system design of experimental platform and its experiment researches. The paper's details are described as below:1. Analyzed the positive and inverse kinematics of mechanism, from which we got the workspace of mechanism's output based on the performance of servo motor. For the sake of the controllability of mechanism, we firstly formed the trajectory planning method in the consideration of the output's workspace and the output capability of servo motor, according to which we can get the driving order of servo motor with the kinematics inverse. Further more, as the characteristic in power distribution of hybrid driven mechanism is : during the mechanism running, the constant motor provides a majority of power while the servo motor provides a litter power just to adjust running matter. Then we optimized the trajectory basing on that characteristic.