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<p>Learance plays a crucial role in determining both the precision and robustness of mechanical systems. Traditional studies on the dynamics of mechanisms with clearance have primarily focused on planar multi-link mechanisms and simplistic three-dimensional parallel mechanisms. Hybrid mechanism is a combination of several serial and parallel basic mechanisms. It offers advantages such as strong flexibility, high structural rigidity, high load-bearing capacity, and a wide range of motion. However, research on hybrid mechanisms with three-dimensional joint clearances is limited, and studies focusing on the nonlinear characteristics and reliability of hybrid mechanisms with clearances are even scarcer. Therefore, this paper investigates the 4-<Emphasis Type="Underline">P</Emphasis>RPaR-RUPUR hybrid mechanism, establishing a three-dimensional mathematical model for the revolute joint clearance. To model the contact forces at the clearance, this paper integrates the Flores contact force model with modified Coulomb friction force model. For dynamic analysis, the Lagrange multiplier method is employed, while the reliability assessment is performed using the first order second moment method in combination with the stress-strength interference model. Chaos behavior in revolute clearance joint is identified through phase diagrams, Poincaré maps and largest Lyapunov exponent. This study explores the dynamic behavior and reliability of the hybrid mechanism under varying clearance values and driving speeds. Moreover, the correctness of theoretical model is verified by comparing virtual simulation results with numerical results. The findings demonstrate that clearance significantly amplifies the dynamic response and reduces the reliability of the mechanism, with these effects becoming more pronounced as both clearance values and driving speeds increase.</p>

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Nonlinear dynamics study of hybrid mechanism considering three-dimensional revolute joint clearance

  • 期刊论文

  • 发表日期：

    2025年2月27日

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  • Yuechuan Xin,
  • Jianuo Zhu,
  • Kai Meng,
  • Shuai Jiang

摘要

Learance plays a crucial role in determining both the precision and robustness of mechanical systems. Traditional studies on the dynamics of mechanisms with clearance have primarily focused on planar multi-link mechanisms and simplistic three-dimensional parallel mechanisms. Hybrid mechanism is a combination of several serial and parallel basic mechanisms. It offers advantages such as strong flexibility, high structural rigidity, high load-bearing capacity, and a wide range of motion. However, research on hybrid mechanisms with three-dimensional joint clearances is limited, and studies focusing on the nonlinear characteristics and reliability of hybrid mechanisms with clearances are even scarcer. Therefore, this paper investigates the 4-PRPaR-RUPUR hybrid mechanism, establishing a three-dimensional mathematical model for the revolute joint clearance. To model the contact forces at the clearance, this paper integrates the Flores contact force model with modified Coulomb friction force model. For dynamic analysis, the Lagrange multiplier method is employed, while the reliability assessment is performed using the first order second moment method in combination with the stress-strength interference model. Chaos behavior in revolute clearance joint is identified through phase diagrams, Poincaré maps and largest Lyapunov exponent. This study explores the dynamic behavior and reliability of the hybrid mechanism under varying clearance values and driving speeds. Moreover, the correctness of theoretical model is verified by comparing virtual simulation results with numerical results. The findings demonstrate that clearance significantly amplifies the dynamic response and reduces the reliability of the mechanism, with these effects becoming more pronounced as both clearance values and driving speeds increase.