Abstract：High-speed multi-link transmission mechanisms with clearance present strong nonlinear features which affects the dynamic characteristics of the mechanisms. A collision-hinge model, inserted into the dynamics model of an actual multi-link transmission mechanism, is built for clearance joints with the clearance vector model, based on study of dynamics modeling theory for clearance. In order to simulate process of contact and collision, normal forces are calculated with a nonlinear continuous contact force model and tangential forces are calculated with the modified Coulomb friction model. Then in a designated working condition, the dynamics model is solved, founding the great influence on dynamic characteristics of the mechanism. Meanwhile, influence of size difference of clearance on running reliability of the mechanism is analyzed, founding that the existence of multiple clearance joints can cause an hysteresis effect on velocity and acceleration of the mechanism, and impact and fluctuation effects on acceleration, compared with dynamic characteristics of the model built with ideal joints. Moreover, the reason leading to such results is analyzed. Studying methods and parametric analyzing results can act as reference for optimal design and reliable running of multi-link transmission mechanisms.
2014, Vol. 33 
