Study On Redundant Servo Motor Approach To Dynamic Balancing Of Elastic Linkages

In recent decades, the weight of the mechanism tend to be lighter and lighter and the speed of the motor become more faster. But a sharp increase of the inertial force will cause the linkages’ elastic deformation and vibration because of the high speed. This situation will deteriorate the mechanism’s working performance and influence on the motion accuracy. So the elasticity of the mechanism can not be ignored.A new approach to balancing of rigid linkages is proposed at present which is called Redandunt Servo Motor, RSM for short. The principle of RSM is that the kinernatic requirement is seen as the constraint condition and the dynamic perforrnance can be improved by optimizing the servo motor’s rotation curve. The RSM approach is applied to the dynamic balancing of elastic linkage mechanism in this thesis.Above all, a four bar elastic linkage will be taken as an example and its elastic dynamic balancing model and optimization model will be established, in which the shaking force and shaking moment of the mechanism are taken as objective, the angular velocity and angular acceleration in the control point are taken as design variable. Then the optimization model is given, and the validation of theoretical developments is maded thtough MATLAB. The principle of RSM is present after the theory analysis. The validation of the balancing model is made through the SPACAR for the first time. Five kinds of motion have been carried on the optimization model. The analysis of variance is carrying on regarding to the simulation results.The advantages with regard to the RSM approach is applied to dynamic balancing of elastic linkage mechanism and also its disadvantages are listed in the end of this thesis.The contribution of this thesis includes that a new approach named RSM is applied to the study of dynamic balancing of elastic linkages and the SPACAR is used to validate the dynamic model.