0
research-article

A Study on the Dynamics of Spatial Mechanisms with Frictional Spherical Clearance Joints

[+] Author and Article Information
Filipe Marques

Departamento de Engenharia Mecânica Universidade do Minho, Campus de Azurém 4804-533 Guimarães, Portugal
fmarques@dem.uminho.pt

Fernando Isaac

Departamento de Engenharia Mecânica Universidade do Minho, Campus de Azurém 4804-533 Guimarães, Portugal
efinhoisaac@hotmail.com

Nuno Dourado

Departamento de Engenharia Mecânica Universidade do Minho, Campus de Azurém 4804-533 Guimarães, Portugal
nunodourado@dem.uminho.pt

Antonio Pedro Souto

2C2T/Departamento de Engenharia Têxtil Universidade do Minho, Campus de Azurém 4804-533 Guimarães Portugal
souto@det.uminho.pt

Paulo Flores

Departamento de Engenharia Mecânica Universidade do Minho, Campus de Azurém 4804-533 Guimarães, Portugal
pflores@dem.uminho.pt

Hamid Lankarani

Department of Mechanical Engineering, Wichita State University Wichita, KS 67260-133
hamid.lankarani@wichita.edu

1Corresponding author.

ASME doi:10.1115/1.4036480 History: Received September 01, 2016; Revised March 17, 2017

Abstract

An investigation on the dynamic modeling and analysis of spatial mechanisms with spherical clearance joints including friction is presented. For this purpose, the ball and the socket which compose a spherical joint are modeled as two individual colliding components. The normal contact-impact forces that develop at the spherical clearance joint are determined by using a continuous force model. A continuous analysis approach is used here with a Hertzian based contact force model, which includes a dissipative term representing the energy dissipation during the contact process. The pseudo-penetration that occurs between the potential contact points of the ball and the socket surface, as well as the indentation rate play a crucial role in the evaluation of the normal contact forces. In addition, several different friction force models based on the Coulomb's law are revisited in this work. The friction models utilized here can accommodate the various friction regimens and phenomena that take place at the contact interface between the ball and the socket. Both the normal and tangential contact forces are evaluated and included into the systems' dynamics equation of motion, developed under the framework of multibody systems formulations. A spatial four bar mechanism, which includes a spherical joint with clearance, is used as an application example to examine and quantify the effects of various friction force models, clearance sizes, and the friction coefficients.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

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