Non-smooth Behaviour of a Linkage Mechanism with Revolute Clearance Joints

2014 ◽  
pp. 233-241 ◽  
Author(s):  
A. Krinner ◽  
T. Thümmel
Keyword(s):  
Linkage Mechanism ◽  
Clearance Joints

Dynamic analysis of a planar multibody system with multiple revolute clearance joints

2018 ◽  
Vol 233 (10) ◽  
pp. 3429-3443 ◽  
Author(s):  
Xupeng Wang ◽  
Wenzhou Lin ◽  
Xiaomin Ji ◽  
Zhu Gao ◽  
Xiaobo Bai ◽  
...  
Keyword(s):  
Multibody System ◽  
Dynamic Responses ◽  
Force Model ◽  
Nonlinear Phenomenon ◽  
Linkage Mechanism ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Four Bar Linkage ◽  
The Impact ◽  
The Ideal

This paper focuses on the dynamic responses of a planar mechanism with multiple clearance joints. The effect of the impact between the journal and the bearing in the clearance joint is described using an improved impact force model, and a typical four-bar linkage mechanism with multiple clearance joints is presented as an example. Two conditions are considered in this research, one is the single clearance joint with different position, and the other is multiple clearance joints. From a large number of numerical results, some important conclusions are obtained as follows: (1) with the influence of the clearance joint, the dynamic output of system has obvious vibration in comparison to the ideal value. (2) The position of the clearance joint has a clear effect on the response of system; the larger the distance of the clearance joint from the drive motor, the smaller its influence on the output of the system. (3) With the increase in the clearance joint number, the dynamic stability of the multibody system is decreased gradually, and the dynamic characteristic of the system also appears as obvious nonlinear phenomenon. (4) The coupling phenomenon appears when multiple clearance joints in the multibody system are considered, which should be examined seriously during the process of design and numerical analysis.

scholarly journals Four - bar linkage mechanisms with continuous friction model in joint clearance

2021 ◽  
Author(s):  
Mahdi Bamdad ◽  
Amirhosein Javanfar
Keyword(s):  
Tangential Velocity ◽  
Friction Model ◽  
Contact Forces ◽  
System Response ◽  
Linkage Mechanism ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Friction Models ◽  
Four Bar Linkage ◽  
The Impact

Abstract Clearance joint widely occurs in the components of mechanical systems as evidence of manufacturing errors. Since a proper set of parameters in the contact and friction model could lead to a higher precision of clearance analysis, the effect of friction models when surfaces collide with a non-zero tangential velocity is examined. Unlike the crank mechanism, a double rocker four - bar linkage mechanism as a challenging problem in the impact mode is analyzed. An investigation on the dynamic modeling and analysis of double rocker four - bar linkage mechanisms with frictional revolute clearance joints is presented. In the presence of clearance joints, asserting friction force, a novel formulation of the contact model is proposed after exploring the perfect continuous friction models with easy parameterization and analyzing the applicable compliant contact force models. The perfect continuous friction models including stribeck effect, static, dynamic, and viscous friction terms are studied, and four friction models (Ambrosio, Threlfall, Anderson and Brown) are thoroughly compared. Using an appropriate model, nonlinear dynamic behaviour is examined and to profit by Poincare portrait; it is proven that either strange chaos exists in the system response. FFT analysis expresses the friction and restitution coefficient influence the nonlinear dynamics of the mechanism significantly. The main consideration here is to present a friction model for improving continuity and computational cost. This paper comes to efficiency of the brown friction model which is used in the clearance joint for first time. The results clearly reveal that the angular accelerations of the links and the contact forces in the continuous friction models are smoother and bounded.

NICROBRAZ 160

Alloy Digest ◽  
1994 ◽  
Vol 43 (12) ◽  
Keyword(s):  
Corrosion Resistance ◽  
Physical Properties ◽  
Clearance Joints

Abstract NICROBRAZ 160 is for wide clearance joints where heavier fillets or greater joint ductility and machinability are desired. This datasheet provides information on composition, physical properties, and hardness. It also includes information on corrosion resistance as well as joining. Filing Code: Ni-472. Producer or source: Wall Colmonoy Corporation.

scholarly journals A Piezoelectric Wave-Energy Converter Equipped with a Geared-Linkage-Based Frequency Up-Conversion Mechanism

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 204
Author(s):  
Shao-En Chen ◽  
Ray-Yeng Yang ◽  
Guang-Kai Wu ◽  
Chia-Che Wu
Keyword(s):  
Power Generation ◽  
Wave Energy ◽  
Wave Motion ◽  
Wave Energy Converter ◽  
Gear Train ◽  
Piezoelectric Composite ◽  
Maximum Height ◽  
Resistive Load ◽  
Linkage Mechanism ◽  
Energy Converter

In this paper, a piezoelectric wave-energy converter (PWEC), consisting of a buoy, a frequency up-conversion mechanism, and a piezoelectric power-generator component, is developed. The frequency up-conversion mechanism consists of a gear train and geared-linkage mechanism, which converted lower frequencies of wave motion into higher frequencies of mechanical motion. The slider had a six-period displacement compared to the wave motion and was used to excite the piezoelectric power-generation component. Therefore, the operating frequency of the piezoelectric power-generation component was six times the frequency of the wave motion. The developed, flexible piezoelectric composite films of the generator component were used to generate electrical voltage. The piezoelectric film was composed of a copper/nickel foil as the substrate, lead–zirconium–titanium (PZT) material as the piezoelectric layer, and silver material as an upper-electrode layer. The sol-gel process was used to fabricate the PZT layer. The developed PWEC was tested in the wave flume at the Tainan Hydraulics Laboratory, Taiwan (THL). The maximum height and the minimum period were set to 100 mm and 1 s, respectively. The maximum voltage of the measured value was 2.8 V. The root-mean-square (RMS) voltage was 824 mV, which was measured through connection to an external 495 kΩ resistive load. The average electric power was 1.37 μW.

scholarly journals Scalable six bar linkage mechanism for re-orienting and aligning objects: Design methodology

Procedia CIRP ◽  
2021 ◽  
Vol 97 ◽  
pp. 66-70
Author(s):  
Emanuela Elisa Cepolina ◽  
Isiah Zaplana ◽  
MariaPaola D’Imperio ◽  
Roberto Gagliardi ◽  
Khelifa Baizid ◽  
...  
Keyword(s):  
Design Methodology ◽  
Linkage Mechanism

scholarly journals Dynamics of luffing motion of a hydraulically driven shell manipulator with revolute clearance joints

2021 ◽  
Author(s):  
Chen Zhi-qun ◽  
Qian Lin-fang ◽  
Chen Guang-song ◽  
Nie Shou-cheng ◽  
Yin Qiang ◽  
...  
Keyword(s):  
Clearance Joints

scholarly journals The Effectiveness of the Ecological Forest Rangers Policy in Southwest China

Forests ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 746
Author(s):  
Yifan Wang ◽  
Dengju Wang ◽  
Rong Zhao
Keyword(s):  
Poverty Alleviation ◽  
Southwest China ◽  
Rural Poverty ◽  
Ecological Effect ◽  
Income Growth ◽  
Future Research ◽  
Linkage Mechanism ◽  
Short Term ◽  
Forest Protection

To achieve the dual goal of poverty alleviation and ecological restoration, the policy of ecological forest rangers (EFRs) was implemented in rural poverty-stricken areas in China, where local residents commonly depend on nearby forest resources for livelihoods. This study aimed to analyze the short-term and long-term effectiveness of the EFRs policy in China mainly in poverty alleviation and income growth, with a brief discussion on the ecological effect of the policy. A questionnaire survey was conducted in four counties in the Karst rocky desertification region in southwest China. By combing through the early literature on REDD+, community forestry, leasehold forestry, etc., this paper summarizes the experience and lessons of similar community forest management models, aiming to explain the unsustainability of EFRs policy from the perspective of forest tenure and governance. The findings of the effectiveness analysis of EFRs policy in the four poverty-stricken counties reflect different degrees of effect in rural households with different income levels. We believe that the EFRs policy has played important roles in short-term regional poverty alleviation while its potential for long-term income growth has not been stimulated. For the amendment of EFRs policy, we put forward the following points: (1) It is necessary to redesign the selection and recruitment mechanism, as well as the exit mechanism of EFRs adapting to the local conditions. (2) It is advisable to further improve the local assessment and monitoring system of forest protection quality of EFRs and optimize the establishment of benefit linkage mechanism between protection effectiveness and EFRs remuneration. (3) The EFRs remuneration standards should be dynamically raised to assure the active participation of EFRs in forest protection. Furthermore, there is a need for one more effective integration model of forest protection and rural livelihoods improvement, which is considered as a potential future research direction.

Structural design and gait research of a new bionic quadruped robot

2021 ◽  
pp. 095440542199566
Author(s):  
Jiu-Peng Chen ◽  
Hong-Jun San ◽  
Xing Wu ◽  
Bin-Zhou Xiong
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Quadruped Robot ◽  
Superior Performance ◽  
Linkage Mechanism ◽  
Wide Range ◽  
Planning Algorithm ◽  
Planning Experiment ◽  
Strength And Stiffness ◽  
Foot Trajectory

Quadruped bionic robot has a strong adaptability to the environment, compared with wheeled and tracked robots, it has superior motion performance, and has a wide range of application prospects in rescue and disaster relief, ground mine clearance, mountain transportation, so it has become a research hotspot all over the world. Leg structure is an important embodiment of the superior performance of quadruped robot, and it is also the key and difficult point of design. This article proposes a novel quadruped robot with waist structure, which can complete a variety of gait forms. Based on the theory of linkage mechanism, a novel leg structure is designed with anti-parallelogram mechanism, which improves the strength and stiffness of the robot. Using D-H description method, the kinematics analysis of this quadruped robot single leg is carried out. On this basis, in order to ensure the foot contact with the ground and achieve zero impact, polynomial programming is used to plan the foot trajectory of swing phase and support phase. Based on the static stability margin, the optimal static gait of the quadruped robot is planned. A co-simulation study has been carried out to investigate further the validity and effectiveness of the quadruped robot on gait. The simulation results clearly show the robot can walk steadily and its input and output meet the expected requirements. The solid prototype platform is built, and the trajectory planning experiment of single leg is carried out, and the foot trajectory of single leg is obtained by using laser tracker. The gait planning algorithm is applied to the whole robot, and the results show that the robot can walk according to the scheduled gait, which proves the effectiveness of the proposed algorithm.

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