Influence of Clearance Joints on the Elements Position of Planar Six-bar Mechanisms with Complex Chain

The presence of clearance in the mechanical joints leads to small position variation of the mechanism elements. The goal of this work is to model and analyze the equilibrium positions of elements in planar six-bar mechanisms with complex chain. To solve this subject, it is necessary to use a mathematical optimization code in order to obtain the optimal solution of the problem. To show the effectiveness of the proposed method, examples are presented and the numerical results obtained show that a good convergence was obtained in each case.