Dynamic Modeling and Stationarity Analysis of Metamorphic Mechanism with Clearance Joint
The metamorphic mechanisms with clearance joint are studied to have important theoretical significance and practical application value for mechanical design and manufacture.The dynamic model of the metamorphic mechanism with clearance joint is established,and the general analysis method of the motion stationarity of the metamorphic mechanism with clearance joint is given.Taking the planar five-bar metamorphic mechanism with clearance joint as an example,the L-N contact force model and the modified Coulomb friction force model are used to simulate the normal contact force and tangential friction force at the clearance joint,and the dynamic model of the metamorphic mechanisms with clearance joint is established based on the Newton-Euler method.The influence of the existence of clearance on motion precision of the metamorphic mechanisms is mainly studied,and a quantitative precision analysis method is presented by using root mean square error and coefficient of variation.The effects of crank speed,clearance size and friction coefficient on the motion stationarity of the metamorphic mechanisms with clearance joint are studied.The results show that as the crank speed and clearance value increase,the vibration of the mechanism intensifies and the stationarity of motion decreases.Dynamics of the metamorphic mechanisms with clearance joint has strong nonlinear characteristics,and has highly sensitive and dependent on the change of clearance parameters.
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