Research on Dynamics of Four-Bar Linkage with Clearances at Turning Pairs : 1st Report, General Theory using Continuous Contact Model

Abstract

This report describes the general theory of dynamics of four-bar linkage with clearances at all turning pairs, using a continuous contact model, based on the assumptions that the pin is always in contact with the socket in each pair. Dynamic motion of the linkage is analytically treated, and four coupled differential equations for the contact angles and one differential equation for the input torque are presented. According to the present theory, the forces acting at the joints are derived.