Dynamic Characteristics of Planar Mechanisms with Clearances

Abstract

Dynamic characteristics of planar mechanisms with clearances are studied with use of Lagrange's equation of motion. In general multi-link planar mechanisms, the equations of relative motion between two links joined by a revolute pair are derived considering the friction at the pair, and the conditions for separation and contact of two pair elements are determined. Such theories are proved to be applicable to the mechanisms with prismatic pairs, and are practically applied to a four-link mechanism which has three revolute pairs with clearances and to a slider-crank mechanism which has revolute pair with clearance. The dynamic behaviors of those couplers and follows are analyzed theoretically and experimentally.