Dynamic analysis of mechanical system considering radial and axial clearances in 3D revolute clearance joints

2020 ◽  
pp. 107754632095051
Author(s):  
Zheng Feng Bai ◽  
Xin Jiang ◽  
Ji Yu Li ◽  
Ji Jun Zhao ◽  
Yang Zhao
Keyword(s):  
Mechanical System ◽  
Dynamic Characteristics ◽  
Mathematic Model ◽  
Contact Forces ◽  
Dynamic Responses ◽  
Radial Clearance ◽  
Double Pendulum ◽  
Clearance Joints ◽  
Revolute Clearance Joint ◽  
Clearance Joint

In the dynamic modeling and simulation of mechanical system with revolute clearance joint, it is usually assumed that the revolute joint is planar joint with radial clearance, but the axial clearance is ignored. In this article, the dynamic responses of a mechanical system considering both radial and axial clearances in 3D revolute clearance joint are investigated using a computational methodology. First, the mathematic model of 3D revolute clearance joint is established considering the radial and axial clearances. The definitions of the radial and axial clearances, the potential contact modes, contact conditions, and contact detection for 3D revolute clearance joint are presented. Furthermore, the normal and tangential contact force models are established to describe the contact phenomenon and determine the contact forces in revolute clearance joints. Finally, two demonstrative application examples are presented to illustrate the dynamic characteristics of mechanical systems considering both radial and axial clearances in revolute clearance joints. A slider-crank mechanism with planar motion and a double pendulum with spatial motion are investigated. Different cases are presented to analyze the dynamic characteristics of a mechanical system considering radial and axial clearances in 3D revolute clearance joints.

Dynamic characteristics of planar linear array deployable structure based on scissor-like element with differently located revolute clearance joints

2017 ◽  
Vol 232 (10) ◽  
pp. 1759-1777 ◽  
Author(s):  
Bo Li ◽  
San-Min Wang ◽  
Viliam Makis ◽  
Xiang-Zhen Xue
Keyword(s):  
Mechanical System ◽  
Dynamic Characteristics ◽  
Equations Of Motion ◽  
Nonlinear Behavior ◽  
Friction Model ◽  
Dynamic Responses ◽  
Force Model ◽  
Clearance Joints ◽  
Deployable Structure ◽  
Clearance Joint

This paper comprehensively investigates the parametric effects of differently located revolute clearance joints on the dynamic behavior of planar deployable structure based on scissor-like element. Considering the real physical mechanical joints, the normal and the tangential forces in the revolute clearance joints are respectively modeled using Flores contact-force model and LuGre friction model. The resulting forces and moments are embedded in the equations of motion of the scissor deployable structure for accurately describing the effect of joint clearance and governing the dynamic response of this structure. The effects of the main parameters such as the location of the clearance joint, the clearance size and the number of clearance joints on the dynamic characteristics of a multibody mechanical system have been numerically evaluated, and the results indicate that joints at different locations in a mechanical system have different sensitivities to the clearance size, and the more sensitive joint should be controlled to reduce the nonlinear behavior of this structure. Also, it can be concluded that the motion in one revolute clearance joint will affect the motion in the other clearance joints and the dynamic interaction of clearance joints is the important source of structural behavior change. Therefore, in order to accurately predict the dynamic responses of the mechanical system, the clearance effect of each joint on the multibody system should be investigated and understood.

scholarly journals A Study on Dynamic Characteristics of Satellite Antenna System considering 3D Revolute Clearance Joint

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Zhengfeng Bai ◽  
Jijun Zhao
Keyword(s):  
Dynamic Characteristics ◽  
Antenna System ◽  
Contact Forces ◽  
Dynamics Analysis ◽  
Satellite Antenna ◽  
Revolute Joint ◽  
Analysis And Design ◽  
Revolute Clearance Joint ◽  
Clearance Joint ◽  
Axial Clearance

Clearances in the joints of real mechanisms are unavoidable due to assemblage, manufacturing errors, and wear. The dual-axis driving and positioning mechanism is one kind of space actuating mechanism for satellite antenna to implement precise guidance and positioning. However, in dynamics analysis and control of the satellite antenna system, it is usually assumed that the revolute joint in the satellite antenna system is perfect without clearances or imperfect with planar radial clearance. However, the axial clearance in an imperfect revolute joint is always ignored. In this work, the revolute joint is considered as a 3D spatial clearance joint with both the radial and axial clearances. A methodology for modeling the 3D revolute joint with clearances and its application in satellite antenna system is presented. The dynamics modeling and analysis of the satellite antenna system are investigated considering the 3D revolute clearance joint. Firstly, the mathematical model of the 3D revolute clearance joint is established, and the definitions of the radial and axial clearance are presented. Then, the potential contact modes, contact conditions, and contact detection of the 3D revolute clearance joint are analyzed. Further, the normal and tangential contact force models are established to describe the contact phenomenon and determine the contact forces in the 3D revolute clearance joint. Finally, a satellite antenna system considering the 3D revolute clearance joint with spatial motion is presented as the application example. Different case studies are presented to discuss the effects of the 3D revolute clearance joint. The results indicate that the 3D revolute clearance joint will lead to more severe effects on the dynamic characteristics of the satellite antenna system. Therefore, the effects of axial clearance on the satellite antenna system cannot be ignored in dynamics analysis and design of the satellite antenna system.

scholarly journals Investigation on Dynamics of Mechanical System with Clearance Joint

2014 ◽  
Vol 8 (1) ◽  
pp. 224-229
Author(s):  
Zheng-Feng Bai ◽  
Bin-jiu Yang ◽  
Yi Sun
Keyword(s):  
Mechanical System ◽  
Frequency Domain Analysis ◽  
Friction Model ◽  
Dynamic Responses ◽  
Force Model ◽  
Clearance Joints ◽  
Continuous Contact ◽  
Clearance Joint ◽  
Joint Contact ◽  
Coulomb Friction Model

In this work, the dynamic responses and vibration characteristics of mechanical system with revolute clearance joints are investigated numerically. Considering clearance in joint, the intra-joint contact model that is generated at clearance joints is established using a nonlinear continuous contact force model and the friction effect is considered by using a modified Coulomb friction model. A well-known slider-crank mechanism with a revolute clearance joint is utilized to perform the investigation. The effects of clearance on dynamics of mechanical system are analyzed by timedomain responses and frequency domain analysis. The investigation results show that the dynamic responses of mechanical system with clearance are obviously vibration and the amplitude increases from the mechanism without clearance. The results also indicate that the behavior of mechanism with clearance is nonlinear.

scholarly journals Dynamics of Multibody Systems With Spherical Clearance Joints

2005 ◽  
Author(s):  
P. Flores ◽  
J. Ambro´sio ◽  
J. C. P. Claro ◽  
H. M. Lankarani
Keyword(s):  
Contact Force ◽  
Multibody Systems ◽  
Contact Forces ◽  
Force Model ◽  
Clearance Joints ◽  
Continuous Contact ◽  
Clearance Joint ◽  
Contact Force Model ◽  
Dynamics Of Multibody Systems ◽  
The Impact

This work deals with a methodology to assess the influence of the spherical clearance joints in spatial multibody systems. The methodology is based on the Cartesian coordinates, being the dynamics of the joint elements modeled as impacting bodies and controlled by contact forces. The impacts and contacts are described by a continuous contact force model that accounts for geometric and mechanical characteristics of the contacting surfaces. The contact force is evaluated as function of the elastic pseudo-penetration between the impacting bodies, coupled with a nonlinear viscous-elastic factor representing the energy dissipation during the impact process. A spatial four bar mechanism is used as an illustrative example and some numerical results are presented, being the efficiency of the developed methodology discussed in the process of their presentation. The results obtained show that the inclusion of clearance joints in the modelization of spatial multibody systems significantly influences the prediction of components’ position and drastically increases the peaks in acceleration and reaction moments at the joints. Moreover, the system’s response clearly tends to be nonperiodic when a clearance joint is included in the simulation.

Dynamic analysis of open-loop mechanisms with multiple spatial revolute clearance joints

2018 ◽  
Vol 233 (2) ◽  
pp. 593-610 ◽  
Author(s):  
Lixin Yang ◽  
Xianmin Zhang ◽  
Yanjiang Huang
Keyword(s):  
Nonlinear Dynamic ◽  
Robot Manipulator ◽  
Equations Of Motion ◽  
Correction Method ◽  
Open Loop ◽  
Hertzian Contact ◽  
Dynamic Behaviors ◽  
Clearance Joints ◽  
Revolute Clearance Joint ◽  
Clearance Joint

Dynamic model of a typical open-loop mechanism with multiple spatial revolute clearance joints were established based on the Newton–Euler equations and the Hertzian contact deformation theory. An augmented constraint violation correction method was presented to solve the nonlinear dynamic equations of motion, which improved the global convergence and stability effectively. The nonlinear dynamic behaviors of a serial robot manipulator with two spatial revolute clearance joints were studied to demonstrate the effects of the location and coupling relationship of the clearance joints. Numerical results show that the influence of spatial revolute clearance joint on the dynamic behaviors of the open-loop mechanism is relatively stronger than that of the planar ones. The location of the spatial revolute clearance joints is an important factor to dynamic behavior of the system. The closer the spatial revolute clearance joint is to the end-effector, the stronger influence it has on the system. The spatial revolute clearance joints interact significantly with each another, which exhibits vigorous vibration with a higher frequency, larger amplitude, and deeper penetration. This work provides new insights into investigating the nonlinear dynamic behaviors of the systems with spatial revolute clearance joints.

A methodology for dynamic behavior analysis of the slider-crank mechanism considering clearance joint

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Yu Chen ◽  
Jun Feng ◽  
Qiang He ◽  
Yu Wang ◽  
Yu Sun ◽  
...  
Keyword(s):  
Mechanical System ◽  
Dynamic Behavior ◽  
Equations Of Motion ◽  
Response Analysis ◽  
Force Model ◽  
Connecting Rod ◽  
Revolute Clearance Joint ◽  
Clearance Joint ◽  
Contact Impact ◽  
Crank Mechanism

Abstract The slider-crank mechanism is used widely in modern industrial equipment whereby the contact-impact of a revolute clearance joint affects the dynamic behavior of mechanical systems. Combining multibody dynamic theory and nonlinear contact theory, the computational methodology for dynamic analysis of the slider-crank mechanism with a clearance joint is proposed. The differential equations of motion are obtained considering the revolute clearance joint between the connecting rod and slider. In the mechanical system, the contact force is evaluated using the continuous force model proposed by Lankarani and Nikravesh, which can describe the contact-impact phenomenon accurately. Then, the experimental study is performed whereby the numerical results are compared with the test data to validate the proposed model. Moreover, the dynamic response analysis is conducted with various driving velocities and clearance sizes, which also explains that the sensitive dependence of a mechanical system on the revolute clearance joint.

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 Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance

2021 ◽  
Author(s):  
Gang Chen ◽  
Xinyao Xu
Keyword(s):  
Dynamic Characteristic ◽  
Contact Force ◽  
Dynamic Characteristics ◽  
Nonlinear Dynamic ◽  
Force Model ◽  
Characteristic Model ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Nonlinear Dynamic Characteristics ◽  
Nonlinear Dynamic Characteristic

Abstract The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic model of shift manipulator for robot driver based on multiple revolute clearance joints to improve dynamic characteristics. The relative penetration depth and velocity between pin and bushing are obtained by establishing the kinematic model of the shift manipulator with clearance joint. Based on the improved L-N contact force model and the modified Coulomb friction model, the normal contact force and the tangential contact force of clearance joint are analyzed. With full clearance joints, the nonlinear dynamic characteristic model of the shift manipulator for robot driver is established. The nonlinear dynamic characteristic laws of the shift manipulator including the end displacement, velocity, acceleration and active joint driving torque are analyzed by different sizes of clearance joints. And the performance test of the shift manipulator for robot driver is conducted. The results demonstrate that the nonlinear dynamic characteristics are well analyzed and verified through the presented characteristic model with clearance joints.

Sign in / Sign up

Export Citation Format

Share Document