Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances

Akhadkar, Narendra; Acary, Vincent; Brogliato, Bernard

doi:10.1007/s11044-016-9523-x

Cited by 15 publications

(14 citation statements)

References 82 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We tried other values between 0 and 0.1 but it does not radically change the Table 6: Initial position of the parts (bodies)in the inertial frame 7 One of the great advantages of the NSCD method, is precisely to allow a drastic decrease of the simulation time (while keeping very good predictability), hence making it possible to run a Monte Carlo method with several thousands of simulations. 8 https://ciment-grid.ujf-grenoble.fr/ major observations are:…”

Section: Numerical Resultsmentioning

confidence: 99%

“…The normal contact law is based on Signorini's condition at the velocity level including the Newton impact law, while the tangential contact law is based on Coulomb's friction law with a second order cone. Careful comparisons between numerical results obtained with the NSCD approach, and experimental data are reported in [40,63,65,66,67,68], while the use of the NSCD approach for systems with clearances is also advocated in [27,8]. They demonstrate that the numerical schemes and the model used in this article, possess very good forecast capabilities.…”

Section: Introductionmentioning

confidence: 95%

“…Compared to planar mechanisms, spatial mechanisms generate more complicated functions with the same number of links. Most of the previous work is focused on the radial clearance in the planar revolute joints modeled with frictionless compliant contact models [25,46,24,69,71,53,71,76,8,57,16,70] with possibly flexible links, finite-element computations of the contact behavior and lubrication (see also [10, Table 1] and references therein for a review of recent literature for the slider-Crank mechanism). However more recently the combined influence of the axial and radial clearances in the revolute joint has been studied in [45,52,13,62,47].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

2017

Self Cite

View full text Add to dashboard Cite

International audienceThis article is devoted to the analysis of the influence of the joint clearances in a mechanism of a circuit breaker, which is a forty-two degrees of freedom mechanism made of seven links, seven revolute joints, and four unilateral contacts with friction. Spatial (3D) revolute joints are modelled with both radial and axial clearances taking into account contact with flanges. Unilateral contact, Coulomb's friction and Newton impact laws are modeled within the framework of nonsmooth mechanics without resorting to some regularizations or compliance/damping at contact. The nonsmooth contact dynamics method based on an event-capturing time–stepping scheme with a second order cone complementarity solver is used to perform the numerical integration. Futhermore, the stabilization of the constraints at the position level is made thanks to the stabilized combined projected Moreau–Jean scheme. The nonsmooth modeling approach together with an event–capturing time–stepping scheme allows us to simulate, in an efficient and robust way, the contact and impacts phenomena that occur in joints with clearances. In particular, comparing with the event–detecting time–stepping schemes, the event–capturing scheme enables to perform the time–integration with large number of events (impacts, sliding/sticking transitions, changes in the direction of sliding) and possibly with finite time accumulations with a reasonable time–step length. Comparing with compliant contact models, we avoid stiff problems related with high stiffnesses at contact which generate some issues in contact stabilization and spurious oscillations during persistent contact periods. In the studied mechanisms of the circuit breakers, the numerical methods deals more than seventy contact points without any problems. Furthermore , the number of contact parameters is small : one coefficient of restitution and one coefficient of friction. Though they are sometimes difficult to measure accurately, the sensitivity of the simulation result with respect to contact parameters is low in the mechanism of the circuit breaker. It is demonstrated that this method, thanks to its robustness and efficiency allows to perform a sensitivity analysis using a Monte Carlo method. The numerical results are also validated by careful comparisons with experimental data which show a very good correlation

show abstract

Section: Numerical Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

2017

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, the algorithmic computation procedures that result from the DVI approach are of great complexity. Based on the nonsmooth dynamical approach Akhadkar et al [214] proposed a methodology for modeling and simulation of planar four-bar mechanisms with multiple revolute clearance joints. In their study, the combined projected Moreau-Jean event-capturing (time-stepping) scheme derived by Acary [215] was used to solve the contact-impact problem.…”

Section: Clearance Circlementioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

317

View full text Add to dashboard Cite

A comprehensive survey of the literature of the most relevant analytical, numerical, and experimental approaches for the kinematic and dynamic analyses of multibody mechanical systems with clearance joints is presented in this review. Both dry and lubricated clearance joints are addressed here, and an effort is made to include a large number of research works in this particular field, which have been published since the 1960's. First, the most frequently utilized methods for modeling planar and spatial multibody mechanical systems with clearance joints are analyzed, and compared. Other important phenomena commonly associated with clearance joint models, such as wear, non-smooth behavior, optimization and control, chaos, and uncertainty and links' flexibility, are then discussed. The main assumptions procedures and conclusions for the different methodologies are also examined and compared. Finally, future developments and new applications of clearance joint modeling and analysis are highlighted.

show abstract

“…The normal contact law is based on Signorini's condition while the tangential contact law is based on Coulomb's friction law. Careful comparisons between numerical results obtained with the NSCD approach, and experimental data are reported in [14,16], while the use of the NSCD approach for systems with clearances is also advocated in [5,9]. They demonstrate that the numerical schemes and the model used in this article, though they can be improved, possess very good forecast capabilities.…”

Section: Introductionmentioning

confidence: 98%

3D Revolute Joint with Clearance in Multibody Systems

Akhadkar

Acary

Brogliato

2017

Computational Kinematics

Self Cite

View full text Add to dashboard Cite

International audienceThe aim of this paper is to understand the influence of radial and axial clearance in the revolute joints on the overall performance of a circuit breaker. A circuit breaker mechanism is made of seven links, seven revolute joints with clearance in both radial and axial direction, four unilateral contacts with friction, and it has forty-two degrees of freedom. The Moreau-Jean nonsmooth contact dynamics (NSCD) numerical method is used to perform the simulations. The numerical results are validated by careful comparisons with experimental data

show abstract

Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances

Cited by 15 publications

References 82 publications

Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

3D Revolute Joint with Clearance in Multibody Systems

Contact Info

Product

Resources

About