Abstract
Translational and revolute joints are the main kinds of joints in planar multilink mechanisms. Translational and revolute clearance joints have great influence on dynamical responses of planar mechanisms. Most research studies mainly focused upon revolute clearance of planar mechanisms based upon the modified Coulomb friction model, some studies investigated clearance of the pin-slot joint, and few studies researched mixed clearances (considering both translational clearance and revolute clearance) based on the LuGre friction model. Dynamic response of the 2-DOF nine-bar mechanism considering mixed clearances based on the LuGre model is investigated in this work. The dynamic model with mixed clearances is built by the Lagrange multipliers. Dynamic responses including motion output of the slider, driving torques, contact forces, shaft center trajectories at revolute clearance pairs, and slider trajectory inside the guide are analyzed, respectively. Influences of different friction models on dynamic responses are studied, such as LuGre and modified Coulomb’s friction models. Effects of different clearance values and different driving speeds on dynamic responses with mixed clearances are both analyzed. Virtual prototype model considering mixed clearances is carried out through ADAMS to verify correctness.
Highlights
Planar multilink mechanisms are widely applied in engineering, such as mechanical press, agricultural equipment, medical apparatus and instruments, and precision instrument [1,2,3,4]
It is important to study the effect of mixed clearances on dynamic responses of planar multilink mechanisms
Studies on dynamic responses of planar multilink mechanisms containing mixed clearances by the LuGre model have not been found in the existing literature
Summary
Planar multilink mechanisms are widely applied in engineering, such as mechanical press, agricultural equipment, medical apparatus and instruments, and precision instrument [1,2,3,4]. Some scholars studied dynamic responses of planar simple mechanisms with revolute clearances by using the LuGre model to build friction, such as slider-crank mechanism. Studies on dynamical responses of planar multilink mechanisms containing multiple revolute clearances by combining the LuGre friction model are few [23,24,25,26]. Studies on dynamic responses of planar multilink mechanisms containing mixed clearances by the LuGre model have not been found in the existing literature. Flores et al [32] presented a method based upon the nonsmooth dynamical approach to build and analyze the dynamic model for the rigid crank-slider mechanism considering translational clearance. Effects of mixed clearances on dynamical responses of planar multilink mechanisms by the LuGre model are rarely investigated, and previous studies mainly use the modified Coulomb friction model as the friction force model. Virtual prototype model containing mixed clearances has been modeled through ADAMS to verify correctness
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