Dynamic Responses and Reliability Analysis of a Parallel Mechanism with Lubrication Revolute Clearance Joints and Uncertain Parameters

Joint clearances and uncertain parameters of a parallel mechanism will cause the error between the actual dynamic response and the desired dynamic response, leading to a dynamic reliability problem. Currently, the reliability analysis of mechanisms mainly focuses on mechanism with clearances or with uncertain parameters, very few involve considering both clearances and uncertainty parameters simultaneously. The main purpose of this article is to propose a dynamic reliability analysis method of a parallel mechanism with revolute clearance and uncertainty parameters. The dynamic reliability analysis of a parallel mechanism with lubrication revolute clearance joints and uncertain parameters is studied in this paper. The 3-RRPaR spatial parallel mechanism is taken as an example, lubrication revolute clearance joints model is established, and the dynamic model of mechanism with lubrication revolute clearance joints is derived. The dynamic reliability model of mechanism with lubrication revolute clearance joints and uncertain parameters is developed. The effects of various random uncertain parameters on the dynamic reliability of mechanism with lubrication revolute clearance joints are analyzed. This can not only provide a new method for dynamic response reliability analysis of mechanism with lubrication clearances and uncertain parameters, but also lay the foundation for dynamic response and reliability optimization design.