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

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.