On the Dynamic Analysis of Planar Mechanisms with Multiple Clearances

The paper develops a general procedure for the dynamic analysis of planar mechanisms with multiple clearance. The analysis mainly relies on determining the clearance angles B_ij its first and second derivatives. The governing equations of each clearance angle are developed on the condition that the variations in displacements and velocities due to clearance effect are very small and could be ignored. Also, the equations governing these clearance angles are developed such that the common normal at the point of contact at each clearance connection coincides with the direction of the clearance eccentricity vector which has the same direction of the normal force at the point of contact. A quick-return motion mechanism with seven clearances is considered to illustrate the procedure.