Modular dynamic modeling and analysis of planar closed-loop mechanisms with clearance joints and flexible links

2016 ◽  
Vol 231 (3) ◽  
pp. 522-540 ◽  
Author(s):  
Zhendong Song ◽  
Xiaojun Yang ◽  
Bing Li ◽  
Wenfu Xu ◽  
Hong Hu
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Evaluation System ◽  
Parallel Mechanism ◽  
Closed Loop ◽  
Dynamic Effect ◽  
Contact Forces ◽  
Modeling And Analysis ◽  
Flexible Links ◽  
Clearance Joints

Dynamic analysis of a mechanism with clearance joints and flexible links is a research focus in the field of multibody dynamics. In this study, a general modular dynamic modeling approach based on Lagrange multiplier method for planar closed-loop mechanisms is proposed in order to improve the modeling efficiency and reusability of a structure having same topology. With this approach, dynamic analysis considering clearance joints and flexible links can be performed conveniently. A novel mathematical model to determine the relative motion modes between the two components of a clearance joint is developed based on the previous contact detection method. A complete dynamic effect evaluation system, which measures the influence of clearance joints and flexible links on the dynamic performances more conveniently and intuitively, is established. A planar 3-RRR parallel mechanism that is a closed-loop system including imperfect joints and flexible links is studied as an example. The dynamic model of this mechanism is established and its dynamic characteristics are investigated. The couple effects of clearance joints and flexible links for a parallel mechanism are investigated first. The contact forces existing in the clearance joints can cause system vibration and thus reduces the dynamic stability of the whole mechanical system. Meanwhile, the simulation results indicate that the flexible links can damp the vibration of the moving platform caused by clearance joints is certain.

Dynamic modeling and analysis of 3-RRS parallel manipulator with flexible links

2010 ◽  
Vol 17 (2) ◽  
pp. 323-331 ◽  
Author(s):  
Shan-zeng Liu ◽  
Yue-qing Yu ◽  
Zhen-cai Zhu ◽  
Li-ying Su ◽  
Qing-bo Liu
Keyword(s):  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Modeling And Analysis ◽  
Flexible Links

scholarly journals Dynamic Response of Multibody Systems With Multiple Clearance Joints

2011 ◽  
Author(s):  
Paulo Flores ◽  
Hamid M. Lankarani
Keyword(s):  
Contact Force ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Physical And Mechanical Properties ◽  
Contact Forces ◽  
Force Model ◽  
Modeling And Analysis ◽  
Clearance Joints ◽  
Continuous Contact ◽  
Dissipative Term

A general methodology for the dynamic modeling and analysis of planar multibody systems with multiple clearance joints is presented. The inter-connecting body components that constitute a real joint are modeled as colliding bodies, which dynamic behaviors are influenced by geometric, physical and mechanical 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. The incorporation of the friction, based on the classical Coulomb’s friction law, is also included. The suitable contact force models are embedded into the dynamic equations of motion for the multibody system. A simple mechanical system with multiple clearance joints is used to demonstrate the accuracy and efficiency of the presented approach and to discuss the main assumptions and procedures adopted. The effects of single versus multiple clearance joints are discussed.

Dynamic Modeling of Compliant Mechanisms Based on 2R Pseudo-Rigid-Body Model

2012 ◽  
Vol 163 ◽  
pp. 277-280 ◽  
Author(s):  
Wen Jing Wang ◽  
Shu Sheng Bi ◽  
Li Ge Zhang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Large Deflections ◽  
Flexible Link ◽  
Flexible Links ◽  
Body Model ◽  
Rigid Body Model ◽  
New Type

Compliant mechanism is a kind of new type mechanism and its analysis is very complex because flexible links often under large deflections which introduce geometry nonlinearities. A new model (2R PRBM) can simulate accurately both the deflection path and angle of the flexible link. A new dynamic model of compliant mechanism is developed using the 2R PRBM. The dynamic equation of planar compliant mechanism is derived. The dynamic analysis on the natural frequency of compliant mechanism is obtained in the example of a planar compliant parallel-guiding mechanism. The numerical results show the advantage of the proposed method for the dynamic analysis of compliant mechanisms.

scholarly journals Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Jianli Wang ◽  
Shenghai Wang ◽  
Haiquan Chen ◽  
Anqi Niu ◽  
Guoliang Jin
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Characteristics ◽  
Structural Design ◽  
Three Dimensional ◽  
Modeling And Analysis ◽  
Research Results ◽  
Simulation Results ◽  
Reduction Characteristics

In order to explore the dynamic characteristics of the telescopic sleeve antiswing device for shipboard cranes under coupling excitation, a three-dimensional dynamic model of the ship crane telescopic sleeve antiswing device is established in this study, and the accuracy of the model is verified through experiments. By dynamic analysis, the influence of sleeve extension and contraction, damper parameters, and ship excitation on the payload swing is found; meanwhile, the influence of payload swing on ship stability is discovered. At the same time, the simulation results show that the three-dimensional dynamic model can accurately simulate the swing reduction characteristics of the antiswing device. The in-plane and out-plane angles of the swing are reduced by 70% and 90%. The research results have great significance to further explore the antiswing mechanism and structural design of the mechanical antiswing device.

Sign in / Sign up

Export Citation Format

Share Document