Experiment research and dynamic behavior analysis of multi-link mechanism with wearing clearance joint

Irregular wear is one of the main reasons leading to the failure of mechanical equipment and mechanical parts. The coupling between irregular wear and system dynamic behavior has an important influence on the performance of the mechanism. A modeling and calculation method for planar multi-link mechanism considering multiple wearing clearances is proposed. Taking 2 DOFs nine bars mechanism as research object, iterative wear prediction process based on Archard model is applied to calculate wear characteristics, wear prediction process is combined with multi-body system dynamics to obtain dynamic model considering wearing clearance of revolute pair, and its dynamic response is analyzed. The nonlinear characteristics are analyzed qualitatively and quantitatively by phase diagram, Poincare map, and Largest Lyapunov exponent. At the same time, experimental platform of 2 DOFs nine bars mechanism is built to analyze influence of wearing clearance on response of mechanism. Correctness of theoretical model is verified by experimental results.