Motion design and implementation for a hybrid drive system

Abstract

This paper presents a study of motion design and its implementation on a hybrid drive system that combines the motions of a large constant speed motor with a small servo motor by means of a mechanism in order to provide a powerful programmable drive system. In general, the most suitable function used to generate motion curves is the power form of polynomial functions. However, this function may produce some unexpected oscillations between the boundary conditions. A methodology is given to prevent this drawback of the interpolation function. A laboratory type set-up is designed and manufactured in order to realize the problems of practical implementation. An experimental application involving the hybrid drive system is included in the study presented.