混合驱动五杆机构控制方法的实验研究  

An Experiment Study of Hybrid-drive Five-bar Mechanism Control Method

作　　者：单宁[1] 史仪凯[1] 李鹏飞[2] 

机构地区：[1]西北工业大学机电工程学院,西安710072 [2]西安理工大学机械及精密仪器学院,西安710048

出　　处：《机械科学与技术》2007年第1期13-15,共3页Mechanical Science and Technology for Aerospace Engineering

摘　　要：应用封闭矢量法对已知尺寸和输出轨迹的混合驱动五杆机构进行了逆运动学分析,得出机构两原动件的输入运动规律。在确定恒转速原动件运动规律基础上,计算机构经过相临轨迹点的时间,给出了伺服电机的运动规律。并对混合驱动五杆机构连杆角速度的控制进行了实验研究,得到在不同PID参数下连杆角速度的实测值。结果表明:根据给定轨迹,设计机构输入规律,应用控制方法对混合驱动机构进行控制,机构输出构件的角速度误差较小。The input kinematic laws of two original components of a hybrid-drive five-bar mechanism of known dimension and output track were obtained by analyzing its converse kinematics using the close vector method. After the kinematic law of an original component with constant rotational speed was determined, the kinematic law of a servomotor was worked out by computing the time when the mechanism passes its adjacent track points. An experimental study of the control of the angular speed for the bars of the mechanism produces its measurement values under different PID parameters. The experimental results show that the designing of the mechanism＇s input law according to known tracks and the controlling of the mechanism using the control method produce smaller errors of the angle speed for the mechanism＇s output components.

关 键 词：混合驱动机构 逆运动学分析 伺服电机 

分 类 号：TH112[机械工程—机械设计及理论]