A new robust design method for path-generating linkages with multi-stochastic noises

摘要

This article presents a robust design method for the path-generating linkage, which can run orderly through desired points. The proposed method excels in accurately considering the influence of more stochastic noises, including dimensional errors, assembling errors, pair clearances, friction coefficients, velocity of drivers, external loads and so on since the multi-rigid-body system dynamics theory and the joint clearance contact theory are combined for building the mechanism model. And a fast algorithm is integrated for estimating the probabilistic output displacement error of the linkage mechanism. The previous work only considered the partial influence of dimensional errors, assembling errors and pair clearances, especially the method for dealing with the influence of the pair clearances is too simple. Hence, the proposed method in this article is more applicable to engineering practice. Finally, a four-bar path-generating linkage is selected for numerical illustrations.