Abstract
Due to the errors arising from machining or assembly, the deformation during movement, and the wear of movement pairs, the clearance will be generated at the kinematic pair of the mechanism, and the service life or working accuracy of the mechanism is reduced. At present, most of the researches are in a simple mechanism with a single clearance, and there are few papers on the complex mechanism, such as the high-speed mechanism which contains multiple clearances. In order to give a computational methodology for the dynamic modeling and analysis of the planar multilink mechanism with multiple degrees of freedom and multiple clearances and master the dynamic characteristics of the planar multilink mechanism, the nonlinear dynamic models of the multiclearance hybrid seven-bar mechanism under different clearance numbers, different clearance values, different clearance positions, and different driving velocities are established and analyzed. The dynamic output response comparison diagram of the mechanism and the collision force diagrams and center trajectory diagrams of the mechanism at the clearance are given. Then, nonlinear dynamics of the mechanism is studied by different clearance values and driving speeds. The corresponding trajectory phase diagrams, Poincare maps, and bifurcation diagrams are given. The above research results provide an effective theoretical basis for the study about the nonlinear dynamic characteristics of the planar link mechanism with clearance and how to compensate or control the clearances.
Highlights
At the same time, scholars have studied the dynamic response or nonlinear characteristics of the simple planar linkage mechanism with a single clearance and single degree of freedom
Wang et al [20] used a new nonlinear contact force model to study the dynamic characteristics of plane mechanical systems with clearances
Farahan et al [21] modeled the dynamics of the planar fourbar linkage with clearance and analyzed its nonlinear characteristics through the bifurcation diagram
Summary
College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China. Wang et al [4] used the improved normal contact collision force and modified Coulomb friction model to analyze the motion characteristics of the crank-slider mechanism under different clearance values. Scholars have studied the dynamic response or nonlinear characteristics of the simple planar linkage mechanism with a single clearance and single degree of freedom. In order to give a computational methodology for the dynamic modeling and analysis of the planar multilink mechanism with multiple degrees of freedom and multiple clearances and master the dynamic characteristics, in this paper, the nonlinear dynamic model of the hybrid seven-bar mechanism with multiple clearances is established and analyzed, and the corresponding dynamic response, phase diagram, and Poincare map are given.
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