LAUSR

Clearance wear is one of the factors that affects dynamics for mechanical systems. A numerical methodology suitable for modeling and calculation of wear at multiple revolute clearance pairs in the field of the planar multilink mechanism is proposed. In this paper, the 2-DOF nine-bar mechanism considering two revolute clearance joints is regarded as the study object. Normal contact force and friction force models of revolute clearance joints used Lankarani–Nikravesh (L-N) and LuGre models, respectively. The iterative wear prediction process based upon Archard’s model has been applied to calculate wear characteristics. The wear prediction procedure is integrated with multibody dynamics, wear depths at revolute clearance joints are calculated, and the surface of shaft and bearing is reconstructed twice. The dynamic responses of mechanism considering two nonregular revolute clearances caused by wear are studied in depth. The nonlinear characteristics of the mechanism after wear are studied by the phase diagram and Poincaré map. Influences of different initial constant clearance values and different driving speeds on wear of two revolute joints are also researched. The results show that it is necessary to consider the factor of irregular clearances caused by wear in analysis of dynamics of precision mechanisms. Initial constant clearance values and driving speeds have some influence on wear phenomenon. This research provides a theoretical basis for studying dynamics of the planar multilink mechanism considering wear in multiple clearances.