Dynamic modeling of a novel hybrid conveying mechanism for electro-coating of automobile bodies based on screw theory

For the dynamic modeling of a novel hybrid conveying mechanism for electro-coating of automobile bodies, a systematic method of combining screw theory with the principle of virtual work is proposed. Based on the structural characteristics of the mechanism, the motion of the mechanism is described via screw theory. The velocities of active joints on the mechanism are obtained by using reciprocal product, and the velocities of passive joints are obtained by solving the screw motion equation. Then, the acceleration of each joint on the mechanism is derived by using differentiation technique. Based on the above, the dynamic equation is formulated by combining screw theory with the principle of virtual work. The simulations on the proposed dynamic model are conducted respectively by using MATLAB and ADAMS. The simulation results show the reliability of the dynamic model. The proposed method of dynamic modeling is easy to solve, program, and implement for effective control of spatial mechanism,which provides a novel method for the dynamic modeling of hybrid mechanism.