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<p>Due to manufacturing and assembly errors, clearances are inevitably present in the joints of a mechanism, which significantly compromise the motion accuracy, dynamic characteristics, and operational reliability of mechanical systems. However, current research on planar multi-link mechanisms with multiple joint clearances remains limited, especially that pertaining to the reliability and nonlinear dynamic characteristics of such mechanisms. Therefore, this paper takes a planar six-link pushing mechanism as the research object. Firstly, based on the Newton-Euler method, a dynamic modeling method suitable for planar multi-link mechanisms with multiple joint clearances is proposed, and the theoretical model is verified by simulation employing ADAMS. Secondly, the influence of the number of clearances and friction coefficients on the dynamic response of the mechanism is analyzed, and the influence laws of various factors on the dynamic response of the mechanism with clearances are revealed. On this basis, a motion-reliability analysis method is proposed, which combines the Monte Carlo algorithm and uses the failure rate as the performance index to evaluate the reliabilities of displacement, velocity and acceleration. Finally, an in-depth analysis via phase diagrams, Poincaré maps and bifurcation diagrams is conducted, and the key factors that influence the nonlinear dynamic characteristics of planar multi-link mechanism with joint clearances are revealed. The research results indicate that the developed dynamic model with clearances exhibits high accuracy, and clearances have a significant impact on the dynamic response of the mechanism. Meanwhile, the proposed motion reliability analysis method can effectively reveal the influencing factors of the mechanism’s motion reliability. In addition, increasing the clearance values and driving speeds will reduce the stability of the mechanism and further intensify its chaotic behavior. The results provide a theoretical basis for the precision manufacturing and performance improvement of multi-link mechanisms with multiple joint clearances in practical engineering applications, with high engineering application value.</p>

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Dynamic modelling, reliability analysis and nonlinear dynamic characteristics of planar multi-link mechanism with multi-clearance joints

  • 期刊论文

  • 发表日期：

    2026年5月23日

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  • Tianyou Liu,
  • Dong Liang,
  • Zhimin Wang,
  • Boyan Chang,
  • Tao Lv

摘要

Due to manufacturing and assembly errors, clearances are inevitably present in the joints of a mechanism, which significantly compromise the motion accuracy, dynamic characteristics, and operational reliability of mechanical systems. However, current research on planar multi-link mechanisms with multiple joint clearances remains limited, especially that pertaining to the reliability and nonlinear dynamic characteristics of such mechanisms. Therefore, this paper takes a planar six-link pushing mechanism as the research object. Firstly, based on the Newton-Euler method, a dynamic modeling method suitable for planar multi-link mechanisms with multiple joint clearances is proposed, and the theoretical model is verified by simulation employing ADAMS. Secondly, the influence of the number of clearances and friction coefficients on the dynamic response of the mechanism is analyzed, and the influence laws of various factors on the dynamic response of the mechanism with clearances are revealed. On this basis, a motion-reliability analysis method is proposed, which combines the Monte Carlo algorithm and uses the failure rate as the performance index to evaluate the reliabilities of displacement, velocity and acceleration. Finally, an in-depth analysis via phase diagrams, Poincaré maps and bifurcation diagrams is conducted, and the key factors that influence the nonlinear dynamic characteristics of planar multi-link mechanism with joint clearances are revealed. The research results indicate that the developed dynamic model with clearances exhibits high accuracy, and clearances have a significant impact on the dynamic response of the mechanism. Meanwhile, the proposed motion reliability analysis method can effectively reveal the influencing factors of the mechanism’s motion reliability. In addition, increasing the clearance values and driving speeds will reduce the stability of the mechanism and further intensify its chaotic behavior. The results provide a theoretical basis for the precision manufacturing and performance improvement of multi-link mechanisms with multiple joint clearances in practical engineering applications, with high engineering application value.