Dynamic response and nonlinear characteristics of multi-link mechanism with clearance joints

Revolute clearance and translational clearance often exist in planar mechanisms, which affect accuracy and stability of mechanisms. By using Lagrangian multiplier method, based on the optimized length of each component in the six-bar mechanism, the rigid-body system dynamic equation considering the coupling action of dry friction revolute clearance and translational clearance is established. By using Baumgarte constraint stabilization methodology and combining judgment of contact state at clearance, the general solution strategy of the system dynamic equation considering dry friction revolute and translational clearance is given. The effects of different clearance types on the dynamics of the mechanism are compared and analyzed. Then, chaos phenomena are identified by Poincare map, phase trajectory map and largest Lyapunov exponent. Influence of different friction models on dynamics is studied. The influence of lubrication/dry friction revolute clearance on nonlinear dynamic is analyzed. Influence of various loads on dynamic behavior is analyzed. Effect of various driving speeds on dynamic response and nonlinear characteristic is studied. Finally, correctness of dynamics model dry friction revolute clearance and translational clearance is verified by ADAMS. It is found that the coupling action of clearance affects stability, leading to the decline of performance. Therefore, it is necessary to study dynamics of mechanism with clearance.Kindly check and confirm the corresponding author mail id is correctly identified.it is right

Automated summary

In this study, the dynamic equations of a six-bar mechanism considering the coupling action of dry friction revolute clearance and translational clearance were established using the Lagrangian multiplier method. The general solution strategy for the system dynamic equations considering the dry friction revolute and translational clearance was provided by utilizing the Baumgarte constraint stabilization methodology and contact state judgment at clearance. The effects of different clearance types on the mechanism dynamics were compared and analyzed, and chaos phenomena were identified using various methods. The influence of different friction models, lubrication/dry friction revolute clearance, various loads, and driving speeds on the dynamic behavior and nonlinear characteristics of the mechanism were studied.