Modeling and simulation of a hybrid actuator

Modeling and kinematic analysis of a hybrid actuator is presented in this study. The dynamic behavior of hybrid actuator is studied by applying numerical simulation on the whole system. Lagrangian mechanics is applied to derive equations of motion. Simulation results are presented to demonstrate the ability of model developed with PID controller action. Similar following characteristics are obtained from numerical simulation, and the performance of the control system with PID controller is quite effective. In hybrid actuator configuration, a seven link mechanism having an adjustable crank is used. One input of the mechanism is given by a gearbox coupled to brushless DC servo motor, and the second input having an adjustable crank is provided by a permanent magnet DC servo motor coupled to a lead screw mechanism.