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Dynamics Simulation Research of Planar Four-Bar Mechanism with Multi-Joint Clearance

On the basis of dynamics simulation software ADAMS, we built dynamics models of planar four-bar mechanism, it built the model of contact force and friction to analysis the dynamics simulation of mechanism. we made a preliminary study on the effect on the flexible components and the backlash of the kinematic pair on mechanical system dynamics characteristics. The result showed that mechanism with single joint clearance had little influence on the mechanism speed and had some impact on mechanism acceleration. Mechanism with multi-joint clearance had bigger effect on the mechanism and acceleration appeared noticeable fluctuation, this model was closer to the phenomenon of objects movements in reality. The simulation results provided reliable reference of mechanical design.