Modelling, simulation and control of a four-bar mechanism with a brushless servo motor

A study is carried out to model, simulate and control a four-bar mechanism driven by a brushless servo motor. A mathematical model for the servo motor-mechanism system is developed and solved by using numerical methods. An experimental set-up based on a four-bar mechanism is built and different crank motion profiles are implemented. Simulation and experimental results are then presented, compared and discussed. Adaptation of a traditional four-bar mechanism to flexible manufacturing systems using a brushless servo motor is described theoretically and experimentally validated. (C) 1997 Elsevier Science Ltd.