Kinematics and Dynamics Analysis of a Planar Hybrid Five Bar Actuator

A hybrid five bar actuator is a configuration that combines the motions of two characteristically different electric motors by means of a five bar mechanism to produce programmable output. Hybrid five bar actuator is the most representative one of hybrid actuator. In this paper, the method of kinematics and dynamics analysis for a hybrid five-bar actuator based on power bond graph theory is introduced. The bond graph model is provided. According to bond graph theory and model, dynamics equations can be derived. By means of the method, it is compact and convenient for solving the main driving power, the assist driving power of a hybrid five-bar actuator. The formula of dynamic equations derived here is a regularized one, and this procedure is very suitable for automatic derivation on a computer, obviously enhancing efficiency and reliability of dynamics analysis for hybrid five bar actuator. From this, a numerical example of kinematics and dynamics analysis for a hybrid five-bar actuator is given, and illustrates its validity

I. Introduction

Hybrid five bar actuator is a new type of mechanism with flexible transmission behavior. The idea of hybrid machines was initially investigated by Tokuz and Jones [1] [2] and is a field of study with full potential. A hybrid mechanism is a configuration that combines the motions of two characteristically different electric motors by means of a mechanism to produce programmable output. Where one of the motions coming from a constant speed motor provides the main power, a small servomotor introduces programmability to the resultant actuator. Requirement for greater machine productivity with improved quality, diversity of product, competition on market, and industrial automation have accelerated needs for new alternative ideas like hybrid machines to generate programmable output motion. Such machines will introduce to users greater flexibility with programmability option, and energy utilization will be realized at maximum. Although some points are partially explored, there is still a need for kinematic and dynamic analysis studies to guide potential users for possible industrial applications with hybrid machines.