Elastic dynamics equation of robot mechanism with Groove Pin Motion Pair with Clearance

Abstract The topological structure and degrees of freedom of the metamorphic mechanism can be changed. In the field of robotics, especially in medical robots, construction robots, military robots, and industrial robots, it has a very promising application prospect. The study of elastic dynamics of robot mechanisms with metamorphic kinematic pairs with clearance has not yet been studied. In this paper, on the basis of the continuous contact theory with metamorphic kinematic pairs with clearance, a finite element model of the metamorphic kinematic pairs with clearance is proposed, and the elastic dynamics equation of the metamorphic groove Pin Pair with clearance is established according to the KED theory. It lays a certain foundation for the research of vibration response, motion stability, bifurcation and chaos of the robotic mechanism with metamorphic kinematic pairs with clearance.