Nonlinear Dynamic Analysis and Comparative Study of Slider-Crank Mechanism Inversions with Revolute Joint Clearance

This research investigates the complex nonlinear dynamic behavior of the three primary inversions of a slider-crank mechanism (PRRR, RPRR, and RRPR) in the presence of revolute joint clearance. In precision machinery, manufacturing tolerances and wear lead to unavoidable clearances, which introduce additional degrees of freedom and high-frequency impact forces. A contact force model based on Lankarani-Nikravesh integration and Hertzian contact theory is employed to simulate joint interactions. Through the application of Poincaré maps and bifurcation diagrams, the transition from periodic to chaotic motion is analyzed. The study further evaluates the stabilizing effects of tangential friction and the compounding impact of multiple clearance joints. Results indicate that the sensitivity to clearance is highly dependent on the kinematic inversion, providing critical insights for the design of high-precision mechanical systems. Keywords: Multi-body Dynamics, Joint Clearance, Chaos, Bifurcation, Slider-Crank Inversions, ADAMS/View.