Study On The Hybrid-Driven And Controlled Seven-Bar Mechanism

Hybrid Machine System (HMS) is driven by two types of motors, namely the real-time non-adjustable (RTNA) motor which provides the majority of driving power and the real-time adjustable (RTA) motor, which acts as a low power motion modulation device. These two kinds of inputs are combined by the multiple degree of freedom system to realize predictive trace. Compared with the HMS, the traditional machines driven only by RTNA are lacks of flexibility, the machines driven only by RTA have good flexibility, but the cost to build them is high and the excessive flexibility result in an inefficient energy consumption. This kind of controllable mechanism is the contemporary problem in the reasearch field of mechanism.In this paper, through studied operation principle of hybrid-driven and controlled mechanism and Characteristic of similar four-bar and five-bar mechanism, the idea of hybrid-driven and controlled seven-bar mechanism were put forward. This research is mainly around this mechanism. Research content is focused on the followings.Then the kinematics and inverse kinematics of the hybrid-driven and controlled seven-bar mechanism were studied.Firstly, Set out from the assembly conditions, on the basis of studying the condition for existence of double crank of hybrid-driven five-bar mechanism, this paper studied the move-ability problem of hybrid-driven and controlled seven-bar mechanism with workspace method. Got the sufficient and necessary conditions for existence of three crank and conditions for existence of inverse kinematics solution. On this basis, researched the problem of workspace further. Secondly, the rotatability laws for the seven-bar mechanismis analyzed. the seven-bar mechanism to the virtual seven-bar mechanisms and got the existence conditions of the crank is inverted. Establish the mathematics model of forward kinematics analyses. Then,do the computer simulation of the hybrid-driven and controlled seven-bar mechanism the kinematics and inverse kinematics by COSMOSMotion and Matlab.Finally,The influence parameter of velocity characteristic was classified. They include structure parameter, adjustable parameter and controlled parameter. Through theory analysis and computer simulation, got the trend of different parameter influence on the moving track and velocity characteristic of hybrid-driven and controlled mechanism. Compared with the relation between primary and secondary that these parameters influence to the movement characteristic. Find out the sensitive parameter. Offered the theory method for the optimal synthesis of hybrid-driven and controlled seven-bar mechanism. The results of optimal synthesis examples verifies the exactness of conclusions obtained and superiority of hybrid-driven and controlled seven-bar mechanism.