Analysis of mechanisms with flexible beam-like links,rotary joints and assembly errors

The paper presents a method of modelling dynamics of mechanisms in which assembly errors can occur. One of the features of the method is that such errors can be included when the kinematics of the mechanism is modelled. A closed kinematic chain consisting of flexible and rigid links with one joint displaced and turned is discussed. Use of joint coordinates together with the rigid finite element method for discretisation of flexible links has allowed us to considerably decrease the size of the problem. Numerical simulations are carried out in order to analyse the influence of inaccurate assembly on the load on joints of a four-bar linkage.