Dynamics of Multibody Systems With Spherical Clearance Joints

[+] Author and Article Information
P. Flores1

Departamento de Engenharia Mecânica, Universidade do Minho, Campus de Azurém, 4800-058 Guimarães Portugalpflores@dem.uminho.pt

J. Ambrósio

 Instituto de Engenharia Mecânica (IDMEC), Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisboa Portugaljorge@dem.ist.utl.pt

J. C. Claro

Departamento de Engenharia Mecânica, Universidade do Minho, Campus de Azurém, 4800-058 Guimarães Portugaljcpclaro@dem.uminho.pt

H. M. Lankarani

Department of Mechanical Engineering, Wichita State University, Wichita, KS 67260hamid.lankarani@wichita.edu


Corresponding author.

J. Comput. Nonlinear Dynam 1(3), 240-247 (Mar 03, 2006) (8 pages) doi:10.1115/1.2198877 History: Received January 04, 2006; Revised March 03, 2006

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, with 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, with 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 © 2006 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 7

Spatial four bar mechanism which includes a spherical clearance joint between the coupler and rocker

Grahic Jump Location
Figure 8

Normal contact force at the clearance joint and corresponding reaction force in the ground-rocker revolute joint for the first impact

Grahic Jump Location
Figure 9

Hysteresis loop of the first three impacts at the clearance joint. The contact force decreases from impact to impact because no energy is feed to the system.

Grahic Jump Location
Figure 10

Z-coordinate of rocker center of mass

Grahic Jump Location
Figure 11

Z-velocity of rocker center of mass

Grahic Jump Location
Figure 1

Spherical joint with clearance in a multibody system

Grahic Jump Location
Figure 2

Penetration between the socket and the ball

Grahic Jump Location
Figure 3

Contact forces defined at the points of contact between socket and ball

Grahic Jump Location
Figure 4

Modes of the ball motion inside the socket

Grahic Jump Location
Figure 5

Force versus penetration

Grahic Jump Location
Figure 6

Rigid body in Cartesian coordinates

Grahic Jump Location
Figure 16

Ball center trajectory inside the socket. Permanent or continuous contact, i.e., the ball follows the socket wall.

Grahic Jump Location
Figure 17

Poincaré map: ideal joint

Grahic Jump Location
Figure 18

Poincaré map: spherical clearance joint

Grahic Jump Location
Figure 12

Z-acceleration of rocker center of mass

Grahic Jump Location
Figure 13

Y-component of the reaction moment at the ground-rocker revolute joint

Grahic Jump Location
Figure 14

Module of the eccentricity vector

Grahic Jump Location
Figure 15

First simulation’s instants in which free flight motion and impacts followed by rebounds are visible




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In