Analysis of angular errors of the planar multi-closed-loop deployable mechanism with link deviations and revolute joint clearances

For planar closed-loop structures with clearances, the angular and positional error uncertainties are studied. By using the vector translation method and geometric method, the boundaries of the errors are analyzed. The joint clearance is considered as being distributed uniformly in a circle area. A virtual link projection method is proposed to deal with the clearance affected length error probability density function (PDF) for open-loop links. The error relationship between open loop and closed loop is established. The open-loop length PDF and the closed-loop angular error PDF both approach being Gaussian distribution if there are many clearances. The angular propagation error of multi-loop structures is also investigated by using convolution. The positional errors of single and multiple loops are both discussed as joint distribution functions. Monte Carlo simulations are conducted to verify the proposed methods.

Download Full-text

Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage

Volume 5B: 40th Mechanisms and Robotics Conference ◽

10.1115/detc2016-59238 ◽

2016 ◽

Author(s):

Xiaozhi Qi ◽

Bing Li ◽

Zhihuai Miao ◽

Hailin Huang

Keyword(s):

Computer Aided Design ◽

Closed Loop ◽

Degree Of Freedom ◽

Mobility Analysis ◽

Plane Symmetric ◽

Analysis And Design ◽

Geometric Conditions ◽

Deployable Mechanism ◽

Vertical Bars ◽

Aided Design

In this paper, a class of large deployable mechanisms constructed by plane-symmetric Bricard linkage is presented. The plane-symmetric Bricard linkage is a closed-loop over-constrained spatial mechanism composed of six hinge-jointed bars, which has one plane of symmetry during its deployment process. The kinematic analysis of the linkage is presented from the perspectives of geometric conditions, closure equations and degree of freedom. The results illustrates that the linkage has one degree of freedom, and it can be deployed from the folded configuration to one rectangle plane. Therefore, the plane-symmetric Bricard linkage can be used to construct lager deployable mechanism as basic deployable unit. Four plane-symmetric Bricard linkages can be assembled to a quadrangular module by sharing the vertical bars of adjacent units. The module is a multi-loop deployable mechanism and has one degree of freedom by the mobility analysis. Large deployable mast, deployable plane truss and deployable ring are built by a plurality of plane-symmetric Bricard linkages. The computer-aided design models for typical examples are built to illustrate their feasibility and validate the analysis and design methods.

Download Full-text

Dynamic analysis of reciprocating compressor with two revolute joint clearances

IOP Conference Series Materials Science and Engineering ◽

10.1088/1757-899x/677/3/032079 ◽

2019 ◽

Vol 677 ◽

pp. 032079

Author(s):

Shouguo Cheng ◽

Huwei Chen

Keyword(s):

Dynamic Analysis ◽

Reciprocating Compressor ◽

Revolute Joint ◽

Joint Clearances

Download Full-text

Reliability analysis of radially retractable roofs with revolute joint clearances

Reliability Engineering & System Safety ◽

10.1016/j.ress.2020.107401 ◽

2021 ◽

Vol 208 ◽

pp. 107401

Author(s):

Qian Zhang ◽

Ning Pan ◽

Marco Meloni ◽

Dong Lu ◽

Jianguo Cai ◽

...

Keyword(s):

Reliability Analysis ◽

Revolute Joint ◽

Joint Clearances

Download Full-text

A Kriging Model for Dynamics of Mechanical Systems With Revolute Joint Clearances

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4026233 ◽

2014 ◽

Vol 9 (3) ◽

Cited By ~ 33

Author(s):

Zhenhua Zhang ◽

Liang Xu ◽

Paulo Flores ◽

Hamid M. Lankarani

Keyword(s):

Simulation Model ◽

Contact Force ◽

Design Parameter ◽

Joint Clearance ◽

Design Parameters ◽

Force Model ◽

Revolute Joint ◽

Clearance Joint ◽

Contact Force Model ◽

Joint Clearances

Over the past two decades, extensive work has been conducted on the dynamic effect of joint clearances in multibody mechanical systems. In contrast, little work has been devoted to optimizing the performance of these systems. In this study, the analysis of revolute joint clearance is formulated in terms of a Hertzian-based contact force model. For illustration, the classical slider-crank mechanism with a revolute clearance joint at the piston pin is presented and a simulation model is developed using the analysis/design software MSC.ADAMS. The clearance is modeled as a pin-in-a-hole surface-to-surface dry contact, with an appropriate contact force model between the joint and bearing surfaces. Different simulations are performed to demonstrate the influence of the joint clearance size and the input crank speed on the dynamic behavior of the system with the joint clearance. In the modeling and simulation of the experimental setup and in the followed parametric study with a slightly revised system, both the Hertzian normal contact force model and a Coulomb-type friction force model were utilized. The kinetic coefficient of friction was chosen as constant throughout the study. An innovative design-of-experiment (DOE)-based method for optimizing the performance of a mechanical system with the revolute joint clearance for different ranges of design parameters is then proposed. Based on the simulation model results from sample points, which are selected by a Latin hypercube sampling (LHS) method, a polynomial function Kriging meta-model is established instead of the actual simulation model. The reason for the development and use of the meta-model is to bypass computationally intensive simulations of a computer model for different design parameter values in place of a more efficient and cost-effective mathematical model. Finally, numerical results obtained from two application examples with different design parameters, including the joint clearance size, crank speed, and contact stiffness, are presented for the further analysis of the dynamics of the revolute clearance joint in a mechanical system. This allows for predicting the influence of design parameter changes, in order to minimize contact forces, accelerations, and power requirements due to the existence of joint clearance.

Download Full-text

Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage

Journal of Mechanical Design ◽

10.1115/1.4035003 ◽

2016 ◽

Vol 139 (2) ◽

Cited By ~ 35

Author(s):

Xiaozhi Qi ◽

Hailin Huang ◽

Zhihuai Miao ◽

Bing Li ◽

Zongquan Deng

Keyword(s):

Computer Aided Design ◽

Closed Loop ◽

Singularity Analysis ◽

Degree Of Freedom ◽

Plane Symmetric ◽

Analysis And Design ◽

Geometric Conditions ◽

Deployable Mechanism ◽

Vertical Bars ◽

Aided Design

In this paper, a class of large deployable mechanisms constructed by plane-symmetric Bricard linkages is presented. The plane-symmetric Bricard linkage is a closed-loop overconstrained spatial mechanism composed of six hinge-jointed bars, which has one plane of symmetry during its deployment process. The kinematic analysis of the linkage is presented from the perspectives of geometric conditions, closure equations, and degree-of-freedom. The results illustrate that the linkage has one degree-of-freedom and can be deployed from the folded configuration to one rectangle plane. Therefore, the plane-symmetric Bricard linkage can be used as a basic deployable unit to construct larger deployable mechanisms. Four plane-symmetric Bricard linkages can be assembled into a quadrangular module by sharing the vertical bars of the adjacent units. The module is a multiloop deployable mechanism and has one degree-of-freedom. The singularity analysis of the module is developed, and two methods to avoid singularity are presented. A large deployable mast, deployable plane truss, and deployable ring are built with several plane-symmetric Bricard linkages. The deployment properties of the large deployable mechanisms are analyzed, and computer-aided design models for typical examples are built to illustrate their feasibility and validate the analysis and design methods.

Download Full-text

An Overview of Several Formulations for Dry and Lubricated Revolute Joint Clearances in Planar Rigid-Multi-Body Mechanical Systems

Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control ◽

10.1115/detc2014-34399 ◽

2014 ◽

Author(s):

Paulo Flores ◽

Hamid M. Lankarani

Keyword(s):

Numerical Models ◽

Equations Of Motion ◽

Mechanical Systems ◽

Contact Forces ◽

Hertzian Contact ◽

Revolute Joint ◽

Coulomb’S Friction ◽

Revolute Joints ◽

Joint Clearances ◽

Multi Body

The influence of the revolute joint model on the dynamic response of planar multibody mechanical systems is studied in this work. In the sequel of this process, under the framework of the multibody formalisms, a general methodology for modeling the main kinematic aspects of dry revolute joint clearances is revisited. The numerical models for normal and tangential contact forces developed at the clearance joints are also discussed, which are based on the Hertzian contact theory and dry Coulomb’s friction law, respectively. The fundamental kinematic and dynamic issues of the modeling lubricated revolute joints are presented in this work in order to compare them with the dry revolute joint approach. In a simple manner, the lubrication forces are obtained by integrating the pressure distribution evaluated with the aid of Reynolds’ equation corresponding to the dynamic regime. The intra-joint forces developed for both dry and lubricated cases are evaluated based on the state of variable of the system and subsequently included into the dynamic equations of motion of the multibody system as external generalized forces. The main assumptions and procedures adopted throughout this work are demonstrated through simulations of a planar slider-crank mechanism, which includes dry and lubricated revolute joint with clearance. Finally, some experimental data is also presented and analyzed.

Download Full-text