Dynamic Analysis and Control of a Spatial Slider-Crank Mechanism

• Main Authors: Chien-Sen Feng, 馮建森
• Other Authors: Rong-Fong Fung
• Format: Others
• Language: en_US
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/52066847461711889313

碩士 === 國立高雄第一科技大學 === 機械與自動化工程所 === 91 === The kinematic and dynamic formulations of a spatial slider-crank mechanism shall be redefined by simply geometric constraints in this study. The governing equations, formulated by the Hamilton principle and partitioning method, include effects of mass, external force, reducing gear box and motor electric input. In order to verify the perfection of geometric modeling, the simulated software-MSC. VisualNastran 4D is adopted in contrast with the numerical analysis of kinematics. Furthermore, the integral variable structure control (IVSC) is employed to execute the velocity and position controls. Numerical results show that the accuracy of kinematic analysis, and the good performance of IVSC robust against to the parameter variation and external disturbance.