Analysis and optimal synthesis of hybrid five-bar linkages

Hybrid machines are driven by two types of motors, namely the real-time non -adjustable (RTNA) motor which provides the majority of driving power and t he real-time adjustable (RTA) motor which acts as a low power motion modula tion device. Such a configuration has a high operational speed and high loa d-bearing capacity, and is relatively cheap and can provide flexibility req uired in many industrial applications. This paper introduces the concept of hybrid five-bar linkages for trajectory generation. A classification is ma de on the hybrid five-bar linkages under the condition that no dead point p osition exists in the linkages, The motion range of each class is then stud ied. An optimal synthesis scheme is put forward based on the criterion whic h aims at minimizing the maximum power requirement of the RTA motor for a g iven output motion range. A modified genetic algorithm is used to obtain th e global optimal solution. Finally, an example is demonstrated to provide a justification of the proposed ideas and synthesis procedures for the hybri d five-bar linkages. (C) 2000 Elsevier Science Ltd. All rights reserved.