Abstract:

The research of dynamic accuracy of RRRRT type spherical five-bar hinged mechanism with two degrees of freedom with clearancess in kinematic pairs is given. Is considered a case when it is necessary to strictly carry out a certain movements of the input links, and the movements of output links, in the absence of initial errors, are determined by differential equations. Also is considered the case when is not obligatory to maintain the movements of the input links. In this case firstly are solved equations that determine the errors of positions, velocities and accelerations of output links in the function of generalized coordinates. Further, expressions of kinetic energy and generalized force of the mechanism are compiled. On the basis of the second order Lagrange equations, differential equations of movement for ideal and real mechanisms are compiled. By solving the equations of a real mechanism with initial errors would be found the errors of positions, velocities and accelerations of the output links of the mechanism in dynamic conditions.

Keywords: : dynamic accuracy; primary errors; two degrees of freedom; five-bar spherical mechanism; differential equations of motion; differential equation of motion.