Test study and nonlinear dynamic analysis of planar multi-link mechanism with compound clearances

Abstract

Clearance of kinematic pairs and flexibility of components are unavoidable problems in engineering applications. Dynamical model of planar rigid 2 DOFs 9 bars rigid-flexible coupling mechanism with compound clearances(including revolute clearance and translational clearance) is built. Comparison of dynamic response and nonlinear characteristic of rigid mechanisms with compound clearances and rigid-flexible coupling mechanisms with compound clearances is studied with each other. Influences of various clearance sizes and driving speeds on nonlinear dynamics characteristics of rigid-flexible coupling mechanisms with compound clearances have been both researched by center trajectory diagram, phase maps, Poincaré maps and bifurcation diagrams. In order to verify correctness of theoretical results, test study of 2 DOFs 9 bars mechanism with compound clearances is carried out. Influences of different clearance sizes and driving speeds on mechanism with compound clearances have been also studied by test.