The theories of error analysis,optimization and virtual displacement are combined together to discuss the pose error of planar mechanism with joint clearance,and a calculation method is proposed for the pose error of planar mechanism.

Analysis of influence of joint clearances on motion precision of paper-transferring grippers;

An Overview of the Methods for Dynamics of Mechanisms with Clearance Joints;

The joint clearances and nonlinear stiffness in the conjugate cam mechanisms is a challenge to theoretical analysis and yet are among the most important factors that must be considered when designing and manufacturing a conjugate cam system.

According to the continuous contact model and the method of dynamicstatics,using common subprograms of five kinds of the basic second grade Assur Group with pair clearance and some assisting subprograms,the basic procedure of analyzing the motion error of complicated planar linkage with pair clearances by the theory of typetransforming method is discussed.

That is valve lift can be accumulated according to the moving rule among the camshaft lift,push-rod,tappet rocker and valve and then the minimal moving clearance can be worked out by the valve lift and piston displacement.