Abstract: In order to improve the dynamics characteristics of multi-link mechanisms with lubrication clearances of revolute joints, a 2-degree of freedom seven link mechanism was taken as research object, a lubrication clearance model for the revolute joints was established, the dynamics equation of the mechanisms with lubrication clearances was derived by Lagrangian multiplier method, and the correctness of the dynamics equation was verified through experiments. A dynamics optimization model of the mechanisms with lubrication clearance was established and solved using genetic algorithm to optimize the variables. The results show that dynamics optimization may reduce the acceleration of the slider by 25%, and the forces between the motion elements at clearances A and B of the rotating pair are reduced by 14.8% and 18.2% respectively, which effectively improve the dynamics characteristics of the mechanisms with lubrication clearances of revolute joints.

Key words: optimization design, dynamics characteristics, lubrication clearance, multi-link mechanism

摘要： 为改善含运动副润滑间隙多连杆机构的动力学特性，以二自由度七连杆机构为研究对象，建立转动副润滑间隙模型，采用拉格朗日乘子法推导出含润滑间隙机构的动力学方程，并通过试验验证了动力学方程的正确性。为优化变量，建立含润滑间隙机构动力学优化模型并利用遗传算法求解。结果表明动力学优化使滑块的加速度降低25%，转动副间隙A、B处的运动副元素之间的作用力分别减小14.8%、18.2%，有效提高了含转动副润滑间隙机构的动力学特性。

关键词: 优化设计, 动力学特性, 润滑间隙, 多连杆机构