Dynamic Accuracy Analysis for Planar Four-Bar Linkage with Multiple Clearances at Turning Pairs

On the basis of kinetic accuracy analysis for planar linkage with multiple clearances,dynamic probability analysis module for planar linkage with multiple clearances is established,and a formula for its dynamic parameters probability values is presented.A simple planar four-bar linkage is selected for numerical illustration.The module is stated in matrix form,and avoids the complex direct differential of mechanical output expression,resolves the relativity of mechanical output parameter error.