Abstract
Abstract Considering the influence of mechanism with joint clearance meanwhile based on the collision-hinge model, this paper established four-bar linkages dynamic equations of mechanism with three joint clearances. Then the hybrid contact model considering joint clearance was incorporated into the mechanical dynamics analysis software ADAMS. Targeting the four-bar linkages, this paper built up dynamic models which contains clearance and also set up dynamics simulation which analyzing how clearance affects the motion deviation of mechanical output. This simulation could predict how joint clearance affects dynamic characteristics of mechanism, and thus provide reference and basis for mechanical design and research.
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