Frontiers of Mechanical Engineering

, Volume 8, Issue 2, pp 160–168 | Cite as

Nonlinear dynamics and analysis of a four-bar linkage with clearance

  • Yuanguang Tang
  • Zongyu Chang
  • Xiaogang Dong
  • Yafei Hu
  • Zhenjiang Yu
Research Article


In this paper, nonlinear dynamic behavior of a four-bar linkage considering clearance is studied. The dynamic model of the linkage with a clearance between coupler and rocker is developed firstly. Then the dynamic equations of this mechanism are solved by a numerical method. According to the calculated response, compliance, force and trajectory of pin in joint bearing are obtained. Effects of clearance magnitude and the relationship between a mechanism with clearance and without clearance are studied. By using Poincare Map, it is proved that strange attractors or chaos exist in the dynamic response. In addition, phenomena of chaos, periodic response and subharmonic response also can be found in the special condition. Bifurcation diagram is used to suggest that bifurcation and fractal phenomena exist in the dynamic response of this mechanism.


four-bar linkage chaos bifurcation strange attractors dynamics 


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Copyright information

© Higher Education Press and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Yuanguang Tang
    • 1
  • Zongyu Chang
    • 1
  • Xiaogang Dong
    • 1
  • Yafei Hu
    • 2
  • Zhenjiang Yu
    • 1
  1. 1.College of EngineeringOcean University of ChinaQingdaoChina
  2. 2.Institute for Research in ConstructionNational Research CouncilReginaCanada

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