Trajectory Optimization for Planar Five-bar Mechanism Having Joints With Clearances

In this study,Joint clearances are considered as virtual massless links.And a mathematical model for planar five-bar mechanism having revolute joints with clearances is presented.The influence of clearances on mechanism position precision is studied,by simulating the mathematical model in MATLBA software.Then,a genetic algorithm(GA) is used to implement the optimization of link parameters based on an appropriate objective function of path errors due to joint clearances.The results of a practical example show that the mathematical model is right and the proposed method is very efficient for the purpose of adjusting the link dimensions to optimize planar mechanisms with clearances.