Coupled Dynamics and Nonlinear Behavior of 5-DoF Heavy-Load Mechanical Press with Multi-Type Clearance Joints Considering Lubricated and Dry Contact Conditions

Joint clearances inevitably deteriorate kinematic accuracy and operational stability of heavy-load mechanical presses. Most existing studies focus on single-type clearances or uniform contact states, failing to reveal the coupled dynamic behavior of multi-type clearances with differentiated lubrication conditions. This work develops a five-degree-of-freedom coupled dynamic model for a double-crank mechanical press, integrating hydrodynamic lubricated revolute joints and dry contact–impact translational joints. Nonlinear dynamic responses under varying clearances, driving speeds and contact regimes are systematically analyzed. Results show that moderately enlarged translational clearance improves positioning accuracy by suppressing oil film whirl-induced chaos; lubricated revolute joints effectively isolate high-frequency impact energy via squeeze-film damping, and the system exhibits non-monotonic dynamic characteristics with speed. This study provides a theoretical basis for clearance matching and operating optimization of mechanical presses.