Dynamics Analysis of a Hybrid Seven-Bar Actuator
A hybrid actuator is a configuration that combines the motions of two characteristically different electric motors by means of a mechanism to produce programmable output. Hybrid seven-bar actuator that is composed of multiple coupled kinematic loops forms a mechanism network (highly nonlinear devices). Here, according to bond graph theory and model, an analysis procedure that can be used to produce the dynamics equations of hybrid actuator is presented. Assignment of causality within a bond graph results in a compatible set of independent and dependent variables and insures the proper mobility of a complex and multiloop mechanism. Given the causality requirements of each loop, this bond graph representation permits complete assignment of causality within the mechanism compatible with the interloop constrains and insures proper mobility. The driving powers of hybrid actuator can be obtained in terms of physical parameters of actuator and kinematic states, and no need to analyze acceleration of hybrid actuator. The unified formula of mechanism dynamics equations derived is a regularized one. It can obviously enhance efficiency and reliability of dynamics analysis for hybrid actuator. Finally, a numerical example is presented illustrating its validity.
Ke Zhang Hui Zhang
School of Mechanical and Automation Eng. Shanghai Institute of Technology Shanghai, 200235 Section of Technology Development Suzhou Mingzhi Foundry Equipment Co., Ltd. Suzhou, 215006
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）