Dynamic Response and Stability Analysis of a Parallel Mechanism with Clearance in Revolute Joint

In order to understand the nonlinear dynamic behavior of a planar mechanism with clearance, the nonlinear dynamic model of the 2-DOF nine-bar mechanism with a revolute clearance is proposed; the dynamic response, phase diagrams, Poincaré portraits, and largest Lyapunov exponents (LLEs) of mechanism are investigated. e nonlinear dynamic model of 2-DOF nine-bar mechanism containing a revolute clearance is established by using the Lagrange equation. Dynamic response of the slider's kinematics characteristic, contact force, driving torque, shaft center trajectory, and the penetration depth for 2-DOF nine-bar mechanism are all analyzed. Chaos phenomenon existed in the mechanism has been identified by using the phase diagrams, the Poincaré portraits, and LLEs. e effects of the different clearance sizes, different friction coefficients, and different driving speeds on dynamic behavior are studied. Bifurcation diagrams with changing clearance value, friction coefficient, and driving speed are drawn. e research could provide important technical support and theoretical basis for the further study of the nonlinear dynamics of planar mechanism.

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“…By using the perturbation coordinate approach [25,26,31], all the angles of bars and the displacement of slider 9 can be written as…”

Section: Establishment Of Kinematics Equation Containingmentioning

confidence: 99%

Nonlinear Dynamics and Analysis of a Planar Multilink Complex Mechanism with Clearance

Chen

Jiang

Deng

et al. 2018

Shock and Vibration

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“…In the recent decades, many scholars have studied the dynamic behavior of mechanical systems containing revolute pair clearances. Most of the researches used the modified Coulomb friction model to build friction force at revolute clearance joints [10][11][12][13][14][15][16][17][18][19][20][21][22]. Wang et al [10] put forward a nonpenetration method for the planar rigid slidercrank mechanism considering revolute clearance.…”

Section: Introductionmentioning

confidence: 99%

“…Li-Xin et al [15] analyzed effects of revolute clearances on the dynamical behavior of a planar 2-DOF parallel manipulator. Hou et al [16] developed a dynamical equation of the RU-RPR mechanism containing single clearance. Li et al [17] investigated influence of the harmonic drive on dynamics of the mechanism considering clearances.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances

Chen

Jiang

Deng

2020

Shock and Vibration

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Translational and revolute joints are the main kinds of joints in planar multilink mechanisms. Translational and revolute clearance joints have great influence on dynamical responses of planar mechanisms. Most research studies mainly focused upon revolute clearance of planar mechanisms based upon the modified Coulomb friction model, some studies investigated clearance of the pinslot joint, and few studies researched mixed clearances (considering both translational clearance and revolute clearance) based on the LuGre friction model. Dynamic response of the 2-DOF nine-bar mechanism considering mixed clearances based on the LuGre model is investigated in this work. e dynamic model with mixed clearances is built by the Lagrange multipliers. Dynamic responses including motion output of the slider, driving torques, contact forces, shaft center trajectories at revolute clearance pairs, and slider trajectory inside the guide are analyzed, respectively. Influences of different friction models on dynamic responses are studied, such as LuGre and modified Coulomb's friction models. Effects of different clearance values and different driving speeds on dynamic responses with mixed clearances are both analyzed. Virtual prototype model considering mixed clearances is carried out through ADAMS to verify correctness.

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Dynamics analysis of 2-DOF complex planar mechanical system with joint clearance and flexible links

et al. 2018

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Dynamic Response and Stability Analysis of a Parallel Mechanism with Clearance in Revolute Joint

Cited by 4 publications

References 12 publications

Nonlinear Dynamics and Analysis of a Planar Multilink Complex Mechanism with Clearance

Nonlinear Dynamics and Analysis of a Planar Multilink Complex Mechanism with Clearance

Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances

Dynamics analysis of 2-DOF complex planar mechanical system with joint clearance and flexible links

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