单驱动器对双杆机构的控制

99 8 11 The control on twin rod mechanism merely by a single driver

本文讨论双杆机构中出现一个驱动器损坏情况下的控制技术。作者利用机构铰链中实际存在的摩擦及运动中二杆间的动力学耦合，使系统到达预定的位置。文中介绍了上或下臂驱动器损坏时的控制方法。

This paper discussed the control technique in the twin rod mechanism under the condition while one of the driver is damaged.The author makes the twin rod mechanism reach its predetermined end position by utilizing the actual existing friction in the hinge of mechanism and dynamic coupling between the two rods in the process of movement. This paper introduced the controlling method while the driver of upper or lower arm is being damaged. A calculational example is also attached in this paper.