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Dynamic response and nonlinear characteristics of multi-link mechanism with clearance joints

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Abstract

Revolute clearance and translational clearance often exist in planar mechanisms, which affect accuracy and stability of mechanisms. By using Lagrangian multiplier method, based on the optimized length of each component in the six-bar mechanism, the rigid-body system dynamic equation considering the coupling action of dry friction revolute clearance and translational clearance is established. By using Baumgarte constraint stabilization methodology and combining judgment of contact state at clearance, the general solution strategy of the system dynamic equation considering dry friction revolute and translational clearance is given. The effects of different clearance types on the dynamics of the mechanism are compared and analyzed. Then, chaos phenomena are identified by Poincare map, phase trajectory map and largest Lyapunov exponent. Influence of different friction models on dynamics is studied. The influence of lubrication/dry friction revolute clearance on nonlinear dynamic is analyzed. Influence of various loads on dynamic behavior is analyzed. Effect of various driving speeds on dynamic response and nonlinear characteristic is studied. Finally, correctness of dynamics model dry friction revolute clearance and translational clearance is verified by ADAMS. It is found that the coupling action of clearance affects stability, leading to the decline of performance. Therefore, it is necessary to study dynamics of mechanism with clearance.Kindly check and confirm the corresponding author mail id is correctly identified.it is right

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Acknowledgements

This research is supported by National Natural Science Foundation of China (Grant No. 51774193).

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Authors and Affiliations

  1. Department of Electrical and Information, Shandong University of Science and Technology, Jinan, 250031, Shandong Province, China

    Shuai Jiang & Linjing Xiao

  2. Swinburne College, Shandong University of Science and Technology, Jinan, 250031, Shandong Province, China

    Maoran Zhao, Jianan Liu & Yuanpeng Lin

  3. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China

    Yonghao Jia

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This manuscript has not been published, simultaneously submitted or already accepted for publication elsewhere. All authors have read and approved the manuscript. There is no conflict of interest related to individual authors’ commitments and any Project support. All acknowledged persons have read and given permission to be named. YJ has nothing to disclose.

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Jiang, S., Zhao, M., Liu, J. et al. Dynamic response and nonlinear characteristics of multi-link mechanism with clearance joints. Arch Appl Mech 93, 3461–3493 (2023). https://doi.org/10.1007/s00419-023-02449-6

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