Study On Dynamic Balancing Of Elastic Five-Bar Planar Mechanisms Based On Partial Redundant Servo Motor Approach

With the research on dynamic balancing of mechanisms, various approaches have been proposed. Of these approaches, a new approach-called Partial Redundant Servo Motor approach (PRSM), has achieved good performance in the active shaking control of mechanisms. The main idea of PRSM approach is that the dynamic performance of mechanisms is able to be improved by optimizing the input motion curve (i.e. the input angle displacement, angular velocity and angular acceleration) and meanwhile the kinematic requirement of this mechanism is also considered. In this paper, PRSM method was applied to the study of dynamic balancing of elastic five-bar planar mechanisms. The analysis of complete dynamic analysis of motor-elastic five-bar mechanisms has been conducted and MATLAB software was used to demonstrate the theoretical results.Firstly, taking an elastic five-bar planar mechanism as an example, the kinematic and elastic dynamics equations have been established and solved, and obtaining the dynamics indexes of elastic five-bar planar mechanisms under constant speed, which demonstrates that the dynamics of mechanisms has been changed when considering the elasticity of components. Secondly, the establishment of dynamics equations of elastic five-bar planar mechanisms including external load and the motion differential equations of motor-elastic five-bar mechanisms are completed. By solving the equations, the dynamic indexes of complete-dynamics analysis have been obtained. And then, five motion trajectories are selected as the input of servo motor, determining the optimization model, and applying PRSM approach to the dynamic balancing of elastic five-bar planar mechanisms, which demonstrates the effectiveness of PRSM approach. Finally, the advantages and disadvantages of PRSM approach are summarized when being applied to the dynamic balancing of elastic five-bar planar mechanisms.The main contribution of this thesis is that applying PRSM approach to the dynamic balancing of elastic five-bar planar mechanisms, which proves the correctness of dynamics equations and also demonstrates the effectiveness of PRSM approach for the elastic five-bar planar mechanisms. Besides, we get the conclusion that the complete dynamics analysis of motor-elastic five-bar mechanisms is more reasonable to reflect real motion of linkages than KED analysis.