Optimization design for dynamics of the 2-DOF hybrid driven parallel mechanism

The mathematical model of the 2-DOF hybrid driven parallel five-bar mechanism has been set up by adopting the Kane-method. Based on the dynamics equation, the analysis of the inverse problem of the dynamics has been carried out and the factor that influences the main driving power and the auxiliary driving power has been discussed. With a group of ellipse trajectories as an example, the object function of the 2-DOF hybrid driven parallel mechanism with the 5-bar's taking the maximum instantaneous value of the auxiliary driving power as the minimum, and with the link length condition of the unconditional double crank as a constraint condition, the optimization design of dynamics has been processed by adopting the genetic algorithm. The best match relation between the power and the rotational speed of the main driving power and the auxiliary diving power has been obtained. This will lay the foundation for realizing the optimal comprehensive performance and the optimal control over the system.