抄録
The present paper proposes a method of analyzing the motion of planar link mechanisms with revolute and prismatic pairs which have clearances and friction. In order to analyze the motion of mechanisms precisely while considering the influences of clearances and friction upon it, the contact state at each pair is discriminated in this analysis. Routines for searching the contact state at each pair are found, which are applied individually to each pair and utilize only the local information of geometric and dynamic states at the pairs. An algorithm for motion analysis of planar linkages is shown. The effectiveness of the proposed method has been investigated using an illustrative example of a slider-crank mechanism.
