Abstract
This paper is based on a new type of 6-PSS parallel mechanism. Firstly, considering the clearance between the kinematic pair connecting the upper platform and the link, establish a kinematic model considering the spherical hinge clearance. Then, based on the Lankarani-Nikravesh(L-N) contact model and the modified Coulomb friction model calculate the contact force when the spherical elements contact, which is equivalent to the center of the corresponding member as the generalized external force. Apply for Newton Euler method with Lagrange Multiplier to establish the dynamics model of the parallel mechanism with clearance. Finally, the R-K method is used to solve the dynamic equation and analyze the influence of different spherical hinge gap sizes on the dynamic characteristics of the mechanism.
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