Abstract
The equations of motion of arbitrary moving links and the constraint equations of pairs have been generally derived with consideration given to elastic deformations from the ideal planes of motion of the links, three-dimensional offsets and clearances, which make it possible to systematically construct the equations of motion of planar link mechanisms. Applying the equations to a crank-and-rocker mechanism whose coupler and rocker are elastic thin links, the influences of the link elasticities and the transmission angle upon the angles of torsions and the deflections of the elastic links and the dynamic deviations of the rocker angle have been theoretically and experimentally revealed. Moreover, considering the radial and thrust clearances at the rocker pin position, the effects of the crank speed, the three-dimensional offsets, and the magnitudes of the clearances upon the angles of torsions and the deflections of the elastic links, the dynamic deviations of the rocker angle, and the relative motions between the pairing elements have been discussed, together with the results of experiments.
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