Abstract: To research the dynamic characteristics and dynamic accuracy reliability of complex mechanism with multiple wear clearances,the planar nine-bar mechanism was taken as the research object to establish the wear prediction model of clearance based on Archard model,the dynamic model of mechanism was built by Lagrange method,and the dynamic characteristics of mechanism before and after wear were analyzed.A modeling method for dynamic accuracy reliability of mechanism with wear clearances through the stress-strength interference theory was developed,and the influence of different driving speeds on dynamic accuracy reliability of mechanism was discussed.The results showed that wear clearances would seriously affect the dynamic characteristics and reliability of mechanism.With the increase of driving speed,the dynamic characteristics of mechanism became worse and the dynamic accuracy reliability decreased.This study supplied a theoretical basis for the modeling of dynamics and reliability of mechanisms with wear clearances,and laid a foundation for the life prediction and analysis of mechanisms.

Key words: nine-bar mechanism, wear clearance, dynamic performance, dynamic accuracy reliability

摘要： 为了研究含多个磨损间隙复杂机构的动力学特性以及动态精度可靠性,以平面九连杆机构为研究对象,基于Archard模型建立了间隙的磨损预测模型,通过Lagrange法建立了机构的动力学模型,分析了机构在磨损前和磨损后的动力学特性。基于应力—强度干涉理论提出一种考虑含磨损间隙机构的动态精度可靠性建模方法,研究了不同驱动速度对机构动态精度可靠性的影响。结果表明,间隙磨损会严重影响机构的动力学特性和可靠性;随着驱动速度的增大,机构的动力学特性变差,动态精度可靠性降低。研究结果为考虑磨损间隙机构的动力学与可靠性的建模与分析提供了理论依据,为机构的寿命预测和分析提供了基础。

关键词: 九连杆机构, 磨损间隙, 动力学特性, 动态精度可靠性