A hybrid contact force model of revolute joint with clearance for planar mechanical systems

Bai, Zheng Feng; Zhao, Yang

doi:10.1016/j.ijnonlinmec.2012.07.003

Cited by 119 publications

(67 citation statements)

References 36 publications

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“…In actual joints, however the problem of joint clearances exists. Clearances in mechanical systems may occur due to assemblage and manufacturing errors, usually result in undue wear, performance loss, reduction in stability, noise, and dynamic impact loads, and affect the transfer of system loads [96][97][98]. This alters the performance of the mechanism and affects the dynamics, control and durability of the mechanism.…”

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

“…This alters the performance of the mechanism and affects the dynamics, control and durability of the mechanism. One example of this is the problem of manipulator end effector positioning [98]. Several factors such as the contact stiffness, surfaces condition, and lubricant need to be considered while developing the contact model for a joint with clearance.…”

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

“…Several factors such as the contact stiffness, surfaces condition, and lubricant need to be considered while developing the contact model for a joint with clearance. In literature the revolute joints are considered either in stand-alone configuration [98] or in assembled form of the slider crank mechanism [99] and four bar mechanism [20]. Wang also addressed a similar problem from the perspective of robotic manipulator environmental interaction.…”

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

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A review of friction models in interacting joints for durability design

2017

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This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

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Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

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A review of friction models in interacting joints for durability design

2017

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“…The continuous contact force model is widely used for contact-impact analysis of mechanism with clearance. [4] proposed a nonlinear continuous contact force model in revolute clearance joint, which is a hybrid model of the Lankarani-Nikravesh model and the improved Winkler elastic foundation model. This contact force model considers the effect of damping and describes the energy loss in the contact process.…”

Section: Contact Force Model In Clearance Jointmentioning

confidence: 99%

“…The movement of the real mechanisms is deflected from the ideal mechanism and the motion accuracy is decreased due to joint clearances. It is known as a source of impact forces and these forces not only create increasing vibration amplitude, but also reduce system reliability, stability, life, and precision [1][2][3][4]. These clearances modify the dynamic responses of the system, justify the deviations between the numerical predictions and experimental measurements and eventually lead to significant vibrations of the real mechanism [5][6][7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Investigation on Dynamics of Mechanical System with Clearance Joint

Bai¹,

Yang²,

Sun³

2014

TOMEJ

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Abstract:In this work, the dynamic responses and vibration characteristics of mechanical system with revolute clearance joints are investigated numerically. Considering clearance in joint, the intra-joint contact model that is generated at clearance joints is established using a nonlinear continuous contact force model and the friction effect is considered by using a modified Coulomb friction model. A well-known slider-crank mechanism with a revolute clearance joint is utilized to perform the investigation. The effects of clearance on dynamics of mechanical system are analyzed by timedomain responses and frequency domain analysis. The investigation results show that the dynamic responses of mechanical system with clearance are obviously vibration and the amplitude increases from the mechanism without clearance. The results also indicate that the behavior of mechanism with clearance is nonlinear.

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Numerical and experimental study on dynamics of the planar mechanical system considering two revolute clearance joints

Bai

Zhao

2021

Int Journal of Mech Sys Dyn

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Due to assembly, wear and manufacturing errors and clearance in the joints are inevitable. When the clearance is introduced into a mechanical system, the impact force in the clearance joint will cause undesirable vibration of the system. In this paper, the dynamic responses of the mechanical system with two revolute clearance joints are studied using computational and experimental methodology. The clearance joint is considered as force constraint. The normal contact force and tangential friction force between the journal and bearing in a clearance joint are modeled using a nonlinear contact force model considering energy loss and a modified Coulomb friction model considering a dynamic friction coefficient, respectively. A planar slider-crank mechanism with two revolute clearance joints is used to implement the study. The dynamic responses obtained from numerical simulation are compared with the experimental test. Numerical simulations and experimental tests for different clearance sizes and crank speeds are presented and discussed, respectively.The simulation results agree quite well with those of the experiment for different cases, which proves the accuracy and efficiency of the computational method for dynamics analysis of the mechanical system with two revolute clearance joints in this study. The investigation indicates that the clearances in revolute joints significantly affect the dynamic characteristics of mechanical systems, which must be considered in the precision analysis, design, and control of multibody systems, especially for high-speed machinery.

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A hybrid contact force model of revolute joint with clearance for planar mechanical systems

Cited by 119 publications

References 36 publications

A review of friction models in interacting joints for durability design

A review of friction models in interacting joints for durability design

Investigation on Dynamics of Mechanical System with Clearance Joint

Numerical and experimental study on dynamics of the planar mechanical system considering two revolute clearance joints

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