含间隙平面连杆机构的不敏感性设计

The Robust Design of the Linkages With Clearances Through Minimizing the Sensitivity to the Clearance Size

机构运动副中的间隙大小往往不易精确测定，而且由于磨损等原因间隙的大小也是变化的，本文将间隙看作一个不确定量进行含间隙平面连杆机构的综合，使得设计出的机构具有良好的动力特性且对间隙大小具有比较小的敏感性，即设计结果具有较高的鲁棒性。

The clearance size in the connections of the linkages is usually uncertain and changeable because of wear and manufacturing tolerance. The clearance size is taken as an uncertainty in the method of the dynamic synthesis of the linkages in this paper. Such being the case, the dynamic characteristics of the linkages can be improved and the results are insensitive to the clearance size.