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Study on nonlinear dynamics of rigid-flexible coupling multi-link mechanism considering various kinds of clearances

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Abstract

The revolute pair and translational pair are the two most important kinematic pairs in planar mechanism. Their clearances directly affect the accuracy of planar mechanism. In addition, flexible components will also lead to a certain degree of vibration and shaking of the mechanism, which will seriously affect the stability. In this paper, considering the coupling effect of revolute clearance pair, translational clearance pair and elastic deformation of components, an accurate dynamic modeling method of rigid-flexible coupling multi-link mechanism (MLM) considering revolute clearance and translational clearance is proposed to accurately predict the nonlinear behavior. Clearance models of revolute pair and translational pair are established, the flexible element model is established based on the absolute node coordinate formulation (ANCF), and the nonlinear dynamic equation of rigid-flexible coupling six-bar mechanism considering the clearance of revolute pair and translational pair is built by Lagrange multiplier method (LMD). Dynamic response and chaos identification are researched. Chaos identification is determined qualitatively and quantitatively by phase diagram, Poincaré map and largest Lyapunov exponent. Influences of different clearance values and driving speeds on nonlinear dynamic behavior of mechanism are discussed. Bifurcation diagrams varying with clearance size and driving velocity are studied, respectively. Dynamic modeling method is compared and verified by ADAMS. The experimental platform of six-bar mechanism is built to further verify the correctness of theoretical model.

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Funding

This research is supported by National Natural Science Foundation of China (Grant no. 61703243) and National Natural Science Foundation of China (Grant no. 51774193).

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Authors and Affiliations

  1. Department of Electrical and Information, Shandong University of Science and Technology, Jinan, 250031, Shandong Province, China

    Linjing Xiao, Shuaishuai Zhang & Shuai Jiang

  2. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China

    Fangping Yan

  3. Qingdao Iron Man Technology Co., Ltd, Qingdao, 266590, China

    Tianxiang Chen

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  1. Linjing Xiao
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Xiao, L., Yan, F., Chen, T. et al. Study on nonlinear dynamics of rigid-flexible coupling multi-link mechanism considering various kinds of clearances. Nonlinear Dyn 111, 3279–3306 (2023). https://doi.org/10.1007/s11071-022-08033-x

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