Abstract
The clearances in kinematic pair are inevitable, which will affect the accuracy and stability of the mechanism directly. A two rotational decoupled parallel mechanism RU-RPR is taken as the research object. Considering the clearance existing in the revolute pair, the dynamics equations are established. Then the effects of clearance on the dynamic characteristics of the mechanism are researched. Meanwhile, a spring is added to the mechanism, and its influences on the dynamic of the mechanism are analyzed. In order to further improve the dynamic response of the mechanism, the genetic algorithm is applied to optimize the related parameters of the spring. The research contents possess theoretical guidance significance on improvement of the dynamic characteristics and control of the chaotic motion of the parallel mechanism with clearances.
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