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A hybrid driven mechanism is such a machine where its drive system integrate two servomotors. To satisfy different requirement, the multi group output motions are got by tow DOF linkage mechanism. However, at present, the study on dynamic analysis of this system based on the rotor of the motor has no eccentricity or vibration, and the air-gap of the motor is stable and symmetrical. The coupling relationship between the motor and the linkage they used is excessively simple. But the real eccentricity of rotor can cause the complex behaviors of transverse vibration and torsional vibration of motor, Therefore, In order to study the effect on the dynamic characteristics of mechanism, which the electromagnetism parameters of motor have, the electromechanical coupling dynamic model, reflectting the electromagnetic state and the motor running state, must be established. In this paper, the dual servomotors-driven elastic linkage mechanical system is studied.Firstly, the links of the plane five-bar linkage mechanism is simulated by beam element, the mass matrix, stiffness matrix of linkage mechanism and elastic dynamic model of system are established.Secondly, Based on the air-gap field of non-uniform airspace of servomotor caused by the vibration eccentricity of rotor, the servomotor element, which defined the transverse vibration and torsional vibration of the servomotor as its nodal displacement, is established. Through analyzing the electromechanical coupling relation of the real running state of servomotor, the kinetic energy and potential energy, including elastic potential energy of the motor element and the air-gap field magnetic energy of the servomotor, are deduced respectively, then the mass matrix and stiffness matrix of the servomotor element are established in the element coordinate system.Then, the nonlinear equation of the system, which including electromagnetic parameters of the servomotors and structural parameters of the elastic linkages, is established by way of Lagrange-Maxwell equation. The relation between the dynamic characteristics and the system parameters such as material parameters, electromagnetism parameters , structure parameters ,is derived in the dynamic equation.Finally, the dynamic model of system is simulated and analyzed using MATLAB. This paper is very useful and valuable for further study on the abnormal working condition of the high-speed and light-load electromechanical system and design new products with excellent dynamic characteristics.
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