Modeling of joints with clearance in flexible multibody systems

Bauchau, Olivier A.; Rodriguez, Jesus

doi:10.1016/s0020-7683(01)00186-x

Cited by 149 publications

(56 citation statements)

References 32 publications

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“…The serious consequences of the clearance joints on the behavior of the multibody systems have motivated various theoretical and experimental investigations over the last three decades [15][16][17][18][19][20][21][22][23]. Furthermore, mechanical systems with clearance joints can have a predictable nonlinear dynamic response [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

2010

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A general methodology for dynamic modeling and analysis of multibody systems with multiple clearance joints is presented and discussed in this paper. The joint components that constitute a real joint are modeled as colliding bodies, being their behavior influenced by geometric and physical properties of the contacting surfaces. A continuous contact force model, based on the elastic Hertz theory together with a dissipative term, is used to evaluate the intra-joint contact forces. Furthermore, the incorporation of the friction phenomenon, based on the classical Coulomb's friction law, is also discussed. The suitable contact-impact force models are embedded into the dynamics of multibody systems methodologies. An elementary mechanical system is used to demonstrate the accuracy and efficiency of the presented approach, and to discuss the main assumptions and procedures adopted. Different test scenarios are considered with the purpose of performing a parametric study for quantifying the influence of the clearance size, input crank speed and number of clearance joints on the dynamic response of multibody systems with multiple clearance joints. Additionally, the total computation time consumed in each simulation is evaluated in order to test the computational accuracy and efficiency of the presented approach. From the main results obtained in this study, it can be drawn that clearance size and the operating conditions play a crucial role in predicting accurately the dynamic responses of multibody systems.

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Section: Introductionmentioning

confidence: 99%

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

2010

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“…This proposed approach takes advantage of the analytical definition of the material surfaces defining the clearance, resulting in a formulation where the gap does not play a central role, as it happens in standard contact models. Other researchers also included the influence of the flexibility of the bodies in the dynamic performance of mechanical systems besides the existence of gaps in the joints [23][24][25]. Dubowsky and Moening [26] obtained a reduction in the impact force level by introducing flexibility of the bodies.…”

Section: Introductionmentioning

confidence: 99%

Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation

2009

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The dynamic modeling and simulation of spatial rigid-multi-body systems with lubricated spherical joints is the main purpose of the present work. This issue is of paramount importance in the analysis and design of realistic multibody mechanical systems undergoing spatial motion.When the spherical clearance joint is modeled as dry contact; i.e., when there is no lubricant between the mechanical elements which constitute the joint, a body-to-body (typically metal-tometal) contact takes place. The joint reaction forces in this case are evaluated through a Hertzian-based contact law. A hysteretic damping factor is included in the dry contact force model to account for the energy dissipation during the contact process. The presence of a fluid lubricant avoids the direct metal-to-metal contact. In this situation, the squeeze film action, due to the relative approaching motion between the mechanical joint elements, is considered utilizing the lubrication theory associated with the spherical bearings. In both cases, the intrajoint reaction forces are evaluated as functions of the geometrical, kinematical and physical characteristics of the spherical joint. These forces are then incorporated into a standard formulation of the system's governing equations of motion as generalized external forces. A spatial four bar mechanism that includes a spherical clearance joint is considered here as example. The computational simulations are carried out with and without the fluid lubricant, and the results are compared with those obtained when the system is modeled with perfect joints only. From the general results it is observed that the system's performance with lubricant effect presents fewer peaks in the kinematic and dynamic outputs, when compared with those from the dry contact joint model.

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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%

“…12) has used momentum as a state variable of integration for two link pendulum and slider crank systems. Bauchau and Rodriguez [97] present a similar case in which finite element method (FEM) along with dynamic model has been proposed for a slider crank mechanism with flexible links.…”

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

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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Modeling of joints with clearance in flexible multibody systems

Cited by 149 publications

References 32 publications

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation

A review of friction models in interacting joints for durability design

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