Dynamic behavior analysis of rigid-flexible coupling planar mechanism considering dry clearances and lubrication clearances

In mechanical systems, flexibility of components and clearances of kinematic pairs have significant impacts on dynamic performance. Previously, although many scholars have studied the dynamic behavior of mechanisms considering clearance, few studies have considered rigid-flexible coupling, clearance categories and clearance parameters at the same time. Therefore, the dynamic behavior of rigid-flexible coupling mechanism considering dry clearances and lubrication clearances is of great significance for accurate analysis of dynamic behavior. This paper studied dynamic behaviors of a new planar nine-bar linkage mechanism. The dry and lubrication clearance models are established, and transition force model considering them is introduced. Based on centroid coordinate formulation and absolute nodal coordinate formulation, rigid and flexible beam element models are established. The dynamic model of rigid-flexible coupling mechanism is established based on Lagrangian multiplier formulation. The dynamic behaviors of rigid-flexible coupling mechanism considering dry clearances and lubrication clearances are analyzed. Effects of clearance values and and lubricating viscosities on mechanism are studied.