Dynamics of Multibody Systems With Spherical Clearance Joints

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.Copyright © 2005 by ASME

[1]  Parviz E. Nikravesh,et al.  Computer-aided analysis of mechanical systems , 1988 .

[2]  Hamid M. Lankarani,et al.  A Contact Force Model With Hysteresis Damping for Impact Analysis of Multibody Systems , 1989 .

[3]  Jorge Ambrósio,et al.  Impact of Rigid and Flexible Multibody Systems: Deformation Description and Contact Models , 2003 .

[4]  L. Shampine,et al.  Computer solution of ordinary differential equations : the initial value problem , 1975 .

[5]  A. Akay,et al.  Dynamic response of a revolute joint with clearance , 1996 .

[6]  L. Seneviratne,et al.  Chaotic behaviour exhibited during contact loss in a clearance joint of a four-bar mechanism , 1992 .

[7]  J. Baumgarte.  Stabilization of constraints and integrals of motion in dynamical systems , 1972 .

[8]  W. Goldsmith,et al.  Impact: the theory and physical behaviour of colliding solids. , 1960 .

[9]  Parviz E. Nikravesh,et al.  An adaptive constraint violation stabilization method for dynamic analysis of mechanical systems , 1985 .

[10]  J. Ambrósio,et al.  Dynamic Analysis for Planar Multibody Mechanical Systems with Lubricated Joints , 2004 .

[11]  S. Shaw,et al.  Chaotic and periodic dynamics of a slider-crank mechanism with slider clearance , 1994 .

[12]  Ferdinand Freudenstein,et al.  Dynamic Analysis of Mechanical Systems With Clearances—Part 1: Formation of Dynamic Model , 1971 .

[13]  Dena Hendriana,et al.  On a parabolic quadrilateral finite element for compressible flows , 2000 .

[14]  M. O. M. Osman,et al.  On the Effect of Bearing Clearances in the Dynamic Analysis of Planar Mechanisms , 1979 .