On the hybrid cam-linkage mechanism realizing variable trajectory

摘要

The present situation of research on hybrid electromechanical system is introduced, and then the concept of the hybrid cam-linkage mechanism is presented and its signification is expounded. The basic structure of hybrid cam-linkage mechanism is given. Based on the inverse kinematic analysis, the boundary condition of the flexible workspace is derived by using the graphic method. A representative hybrid cam-linkage mechanism realizing super-elliptical trajectory group is designed, and then the results are analyzed and verified through simulation software. The simulation results show that hybrid cam-linkage mechanism can precisely realize complicated trajectory group with the same or different laws of motion in the relatively normative flexible workspace. Last, the dynamic analysis model is constructed and the basic study on reasonable power and torque allocation of actuating motors is done.