| Citation: | ZHANG Jie, WANG Dan, CHEN Wuyiet al. Critical angle of revolute pin joint and its application in a four-bar mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(12): 2738-2744. doi: 10.13700/j.bh.1001-5965.2015.0812(in Chinese)
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Revolute pin joint (revolute pair) possesses one degree of freedom, i.e. rotation movement, through relative sliding between contact pairs. Existence of friction and clearance in revolute joints has crucial effects on the overall precision of mechanism. Using the concept of critical angle, the marginal value in which revolute joints could keep in balance state is discussed in this study. Firstly, frictional angle and self-lock caused by friction and clearance in revolute pin joints are investigated, which contribute to not only length error but also angle error in mechanism with such joints. Then, critical angles are calculated with and without contact deformation respectively. Moreover, a four-bar mechanism with one revolute joint studied above is chosen as a case study to evaluate the impact of clearance of joint, contact deformation and friction on the overall precision. Analytical results indicate that the clearance in revolute joint and elastic deformation of mechanism play the most important roles in the system, and the contact deformation of joint could be neglected in the overall precision analysis.
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