A Systematic Approach To Dynamic Analysis And Synthesis For Complex Hybrid Machines

Hybrid actuation mechanisms consist of two types of motors:constant velocity (CV) motor and servo (SV) motor, which can achieve the trajectory flexible output. The CV motor can produce a large power and the SV motor has an excellent task flexibility. So the Hybrid actuation mechanisms contain some benefits with high load capacity, high efficiency, smooth operation, adjustable output trajectory, etc. It can be affect by the speed fluctuations of the CV motor, because of the CV motor is the main drive motor. Currently, the research on motor speed fluctuations of hybrid actuation mechanisms is mainly focus on the5-bar. Also, the research on the modeling and optimization of design are less studied.Firstly, in this thesis, it can build the group dynamic models, through the dynamic analysis of the RRR type Ⅱ class lever group and RR-RR-RR-type class Ⅲ bar group without considering the CV motor speed fluctuations. So the hybrid actuation mechanisms can be split into basic groups to calculate.Secondly, it can build the dynamic models, through the dynamic analysis of the assur groups and the Four Basic Groups of hybrid actuation mechanisms in Inverse Kinematics Analysis with considering the CV motor speed fluctuations. Considering the impact of the electro-magnetic parameters of the motor, It can build the electro-mechanical coupling dynamic model of these groups. So, it can get the hybrid actuation mechanisms general dynamic model with non-generalized coordinates by the combination of the groups dynamic models. Then, through constraint equations to eliminate the non-generalized coordinates to obtain the electro-mechanical coupling dynamic model associated only with generalized coordinates.Finally, it act the optimized design of hybrid actuation5-bar mechanisms. The rod length, component central distribution parameters, and servo motor motion law consider as the design variables. The presence of the double crank, the motion continuity of the servo motor driving rod, and the electro-mechanical coupling dynamic model consider as the constraint equations. The minimization of the terminal trajectory is the objective function to solve.