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This paper presents an overview of a design methodology for the optimalsynthesis of hybrid mechanisms. Hybrid mechanisms have been defined asmulti-degree of freedom systems where the input motions are supplied bydifferent motor types. In this work a five bar mechanism is designed for agiven task under the constraint that one input axis rotates with constantvelocity whilst the other input can exhibit any motion requirement. A machineof this type is classified as being cross-coupled due to the mechanical linkagebetween the input axes. Cross-coupling implies that the input motion on oneaxis effects the position of the other input axis. This can lead to eitheropposition to, or accentuation of the control system input. Such a system asthis is difficult to control due to the compensation for this on each axisleading to further disturbance. Results are presented for a real machineoperating in this way and the actual output of the machine is compared to thedesired input of the machine.

Design and control of cross-coupled mechanisms driven by AC brushless servo motors