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