Kinematic accuracy analysis of flexible mechanisms with uncertain link lengths and joint clearances

A general method of kinematic accuracy analysis is presented for the flexible planar mechanisms with stochastic parameters such as uncertain link lengths and joint clearances. The impact-pair model is employed to describe the separation and impact phenomena between the two components in the clearance joint. The dynamic equations of the flexible mechanism with stochastic parameters are established by finite element method and solved by the Newmark method. The Monte Carlo method is introduced to analyse the kinematic accuracy of the flexible mechanisms. A numerical example shows the effects of link flexibility and joint clearances on the kinematic accuracy of the planar mechanism with stochastic parameters using the proposed approach.