Force/motion sliding mode control of three typical mechanisms

This paper proposes a sliding mode control (SMC) algorithm for trajectory tracking of the slider‐crank mechanism, quick‐return mechanism, and toggle mechanism. First, the dynamic models suitable for the controls of both the motion and constrained force are derived using Hamilton's principle, the Lagrange multiplier, and implicit function theory. Second, the SMC is designed to ensure the input torques can achieve trajectory tracking on the constrained surfaces with specific constraint forces. Finally, the developed method is successfully verified for effectiveness of the force/motion controls for these three typical mechanisms from the results of simulation.