Dof Planar Five Organizations, Sports Design, Dynamic Simulation And Trajectory Control

This thesis comes from the project of the machine innovation design andpractice base of Shanghai Maritime University——the experiment study ofmovement designing and track controlling of the flat robot.This thesis is aimed to: 1) discussion the methods of designing, analyzing and track controlling of flat multi-degrees of freedom planar multi-bars mechanism; 2) researching the computer dynamic simulation; 3) understanding the programming of numerical control program and the communication method of PC and the system of numerical control.The controlled linkage mechanism is a kind of intelligent mechanism that one or several prime movement bars are controlled by computer so as to make the mechanism precisely realize any given motion. It has been a significantly practical problem to realize any given motion with precision in the field of mechanics, therefore the controlled mechanism and the controlled mechanics booms. The planner controlled five-bar mechanism is a two freedom-degrees mechanism. Aimed at realizing any given motion with precision, this thesis will research to the controlled five-bar mechanism from the following aspects:1) Studies the motion of planar five-bar linkages, including the types of five-bar linkages, workspace, the condition of crank existing and the problems of motion intervene.2) Researches the track controlling of coupler point.a. Studies the principle of control.b. Calculation the two original couplers, including acquired the input point according to the datum of track , confirmed the input point according to the require equal-pace motion of the couple point and calculate the input point according to the main motor's equal-pace rotation.3) Made the experiment device, came true the track controlled and the dynamic simulation of mechanism motion.Math model was established in order to make the couple point trace out the predestine tracks, based on the mechanism analysis to five-bar linkages. Furthermore, by means of a solution of the math model, the value of couples' location were gained. Finally, we seek for the two input values of two couples with VB language programming to mathematical model.The procedure of studied and manufactured and the principle of controlled in this experiment device were introduced. Through this device, we controlled the couple point's track with VB language and draw the couple curve. It was finding that this device is feasibility and our experiment is successful, with multitude of dates and results of experiment. Meanwhile, we also verified the correctness of the correlative theories and the formulas of account.It is the areas of innovation that the three methods of movement track controlled of five-bar linkages couple were realized and the correlative theoriesand the formulas pf account were put forward.