Dynamics Behavior Analysis of Parallel Mechanism with Joint Clearance and Flexible Links

<div>Unit of telescopic limb <span class="nowrap"><svg height="12.0314pt" id="M213" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -8.7403 20.6168 12.0314" width="20.6168pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M42 650V615C112 608 121 601 121 516V133C121 48 112 41 37 34V0H347V34C262 41 253 48 253 133V271L321 254C332 254 347 254 362 256C468 269 567 330 567 464C567 529 540 579 493 611C453 639 397 650 318 650H42ZM253 570C253 585 255 595 262 601C268 606 280 611 299 611C360 611 423 574 423 461C423 326 343 300 307 300C286 300 265 305 253 310V570Z" id="g13-78"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.787,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path></g><g transform="matrix(.013,0,0,-0.013,10.843,0)"><path d="M442 495C434 557 427 602 423 639C405 645 348 665 284 665C142 665 55 579 55 469C55 373 127 319 229 267C304 227 348 190 348 131C348 67 309 25 248 25C152 25 93 138 73 202L38 190C45 130 58 46 68 21C81 15 100 7 128 -1C158 -10 193 -15 229 -15C375 -15 472 74 472 188C472 287 400 343 295 394C207 439 171 470 171 525C171 583 212 624 268 624C349 624 387 550 407 487L442 495Z" id="g13-81"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.408,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z" id="g50-106"></path></g></svg>.</span></div>

Shock and Vibration

fig6

Figure 6

Figure 6: Dynamics Behavior Analysis of Parallel Mechanism with Joint Clearance and Flexible Links 