中文摘要：

研究运动副间隙对机构的非线性动态特性的影响;基于间隙矢量模型,建立含间隙旋转副的＂碰撞铰＂模型,采用修正的非线性弹簧阻尼模型模拟碰撞过程中的法向力、修正的库仑摩擦模型描述碰撞过程中的切向力;将建立的碰撞铰模型嵌入ADAMS动力学分析软件中,研究不同的间隙、销轴半径、接触面的摩擦因数对机构动力学特性的影响。然后运用田口方法,把上述参数作为可控因子,铰接触碰撞过程中的最大接触力作为噪声因子,采用正交试验L9（3^4）进行试验设计分析。研究结果表明：间隙、半径、摩擦因数均能影响机构的动力学特性,间隙对噪声因子的影响最大。该研究方法及分析结果可为多连杆机构的优化设计与可靠性的提高提供参考。

英文摘要：

The effects of clearance joint on no-linear dynamic characteristics of mechanism were investigated. A collision-hinge model based on the clearance vector model was established by using modified nonlinear continuous contact force model and improved Coulomb friction model. Then the hybrid contact model was incorporated into ADAMS; the effects of clearance, radius of the pin axle and friction coefficient between contact surfaces on dynamic characteristics were conducted. Moreover,these parameters were set as controllable factors and the maximum contact force as noise factor by using Taguchi method. Then, the several experiments were investigated with these parameters using the L9（mixed orthogonal array 3^4）. The results show that clearance, radius and friction coefficient can affect the dynamic characteristics of transmission mechanism. In addition, clearance value is the most significant factor. Research methods and results of analysis can act as reference for optimal design and reliability improvement of linkage mechanism.