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. Considering the problem of the movement accuracy of the three-bar composite planar linkage mechanism considering the hinge clearance, this paper applies the “hybrid zero displacement method” combined with the continuous contact model and the matrix method to analyze the motion error of the composite hinge plane linkage mechanism ,finally using a certain project as an example of the six-bar locking mechanism in the middle plane, the effects of the gap between the mechanism and the rod length on the movement parameters of the locking mechanism are analyzed. The analysis results show that the motion error model based on the composite hinge zero offset method has a good analysis result, and it has a certain guiding significance for practical engineering application and theoretical research.

Analysis of Motion Error of Planar Linkage Mechanism with Three-bar Composite Hinge with Clearance