Clearance of kinematic pairs and flexibility of components are unavoidable problems in engineering applications. Dynamical model of planar rigid 2 DOFs 9 bars rigid-flexible coupling mechanism with compound clearances(including revolute clearance and translational clearance) is built. Comparison of dynamic response and nonlinear characteristic of rigid mechanisms with compound clearances and rigid-flexible coupling mechanisms with compound clearances is studied with each other. Influences of various clearance sizes and driving speeds on nonlinear dynamics characteristics of rigid-flexible coupling mechanisms with compound clearances have been both researched by center trajectory diagram, phase maps, Poincaré maps and bifurcation diagrams. In order to verify correctness of theoretical results, test study of 2 DOFs 9 bars mechanism with compound clearances is carried out. Influences of different clearance sizes and driving speeds on mechanism with compound clearances have been also studied by test.

运动学对的间隙和部件的灵活性是工程应用中不可避免的问题。建立了平面刚性2自由度9杆刚柔耦合机构的动力学模型，该机构具有复式间隙（包括旋转间隙和平移间隙）。相互研究了具有复合间隙的刚性机构与具有复合间隙的刚柔耦合机构的动力响应和非线性特性。通过中心轨迹图，相图，庞加莱图研究了各种间隙尺寸和驱动速度对具有复合间隙的刚柔耦合机构非线性动力学特性的影响。和分叉图。为了验证理论结果的正确性，对带有复合间隙的2自由度9 bar机构进行了试验研究。还通过试验研究了不同间隙尺寸和驱动速度对具有复合间隙的机构的影响。