Design and Optimization of a Spatial Hybrid Motion System

In this paper, a spatial hybrid motion system is developed that integrates two types of motions through one compliant mechanism: a macro motion driven by a DC servomotor and a micro motion driven by a PZT actuator. A unique feature of the developed hybrid motion system is the elimination of interaction between the macro motion and micro motion. Three issues are addressed in this study: (1) the design principle and implementation of the hybrid motion system; (2) the kinematic analysis and dynamic analysis; and (3) the optimization design of the hybrid motion system. For the micro motion, the five-bar topology of a mechanical amplifier is used to increase amplifying ratio and improve dynamic performance of the system. Finite element analysis results verify the design principle of the parallel architecture for the hybrid motion system.