Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances

Abstract

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.

Research on irregular wear mechanism of planar multi-body mechanical system with multi-clearance joints

“…Bai and Sun 11 used a planar four-bar linkage to study the dynamic characteristics of a multi-body system with multi-clearances. Chen et al 12 studied the dynamic characteristics of a two-degree-of-freedom nine-bar linkage with clearances, and verified the correctness of the dynamic model by ADAMS software. Song et al 13 proposed a non-smooth strategy for solving a planar rigid body mechanism with multi-clearances based on the variational inequality, and compared the accuracy with the ADAMS software.…”