0
Research Papers

Dynamic Analysis of a Spatial Mechanism Including Frictionless Spherical Clearance Joint With Flexible Socket

[+] Author and Article Information
Jianhong Hou

Mechanical Department,
Nanling Campus,
Jilin University,
Changchun 130022, China
e-mail: houjh13@mails.jlu.edu.cn

Guofeng Yao

Mechanical Department,
Nanling Campus,
Jilin University,
Changchun 130022, China
e-mail: yaogf@jlu.edu.cn

Huili Huang

Mechanical Department,
Nanling Campus,
Jilin University,
Changchun 130022, China
e-mail: huanghl16@mails.jlu.edu.cn

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received September 5, 2017; final manuscript received November 10, 2017; published online December 7, 2017. Assoc. Editor: Zdravko Terze.

J. Comput. Nonlinear Dynam 13(3), 031002 (Dec 07, 2017) (12 pages) Paper No: CND-17-1404; doi: 10.1115/1.4038508 History: Received September 05, 2017; Revised November 10, 2017

In this paper, the dynamic response of a spatial four-bar mechanism with a spherical clearance joint with flexible socket is investigated. Previous research treats the socket as a whole rigid part and neglects the flexibility of the socket. In order to better describe the influence of the spherical clearance joint, a rigid-flexible coupling model of a four-bar mechanism is established, in which the socket of the spherical clearance joint is treated as flexible body. The dynamic responses of this spatial mechanism are discussed for the mechanism with a flexible socket and the case with traditional rigid socket. Furthermore, the effects of clearance size and driving speed are also separately discussed. The results demonstrated that the dynamic response of mechanism is affected by the clearance joint. The socket flexibility can relieve the undesired effects of the clearance on the responses of the mechanism with clearance. The flexible socket acts as a suspension for the mechanism with clearance joint.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Farahanchi, F. , and Shaw, S. W. , 1994, “ Chaotic and Periodic Dynamics of a Slider-Crank Mechanism With Slider Clearance,” J. Sound Vib, 177(3), pp. 307–324. [CrossRef]
Ravn, P. , 1998, “ A Continuous Analysis Method for Planar Multibody Systems With Joint Clearance,” Multibody Syst. Dyn, 2(1), pp. 1–24. [CrossRef]
Flores, P. , and Ambrosio, J. , 2004, “ Revolute Joints With Clearance in Multibody Systems,” Comput. Struct., 82(17–19), pp. 1359–1369. [CrossRef]
Flores, P. , Ambrósio, J. , Claro, J. C. P. , and Lankarani, H. M. , 2006, “ Influence of the Contact-Impact Force Model on the Dynamic Response of the Multibody Systems,” J. Multi-Body Dyn., 220(1), pp. 21–34.
Flores, P. , Ambrósio, J. , and Claro, J. C. P. , 2004, “ Dynamic Analysis for Planar Multibody Mechanical Systems With Lubricated Joints,” Multibody Syst. Dyn., 12, pp. 47–74. [CrossRef]
Flores, P. , 2010, “ A Parametric Study on the Dynamic Response of Planar Multibody Systems With Multiple Clearance Joints,” Nonlinear Dyn., 61(4), pp. 633–653. [CrossRef]
Muvengei, O. , Kihiu, J. , and Ikua, B. , 2012, “ Numerical Study of Parametric Effects on the Dynamic Response of Planar Multi-Body Systems With Differently Located Frictionless Revolute Clearance Joints,” Mech. Mach. Theory, 53, pp. 30–49. [CrossRef]
Megahed, S. M. , and Haroun, A. F. , 2012, “ Analysis of the Dynamic Behavioral Performance of Mechanical Systems With Multi-Clearance Joints,” ASME J. Comput. Nonlinear Dyn., 7(1), p. 011002.
Gummer, A. , and Sauer, B. , 2014, “ Modeling Planar Slider–Crank Mechanisms With Clearance Joints in RecurDyn,” Multibody Syst Dyn., 31(2), pp. 127–145. [CrossRef]
Bai, Z. F. , and Zhao, Y. , 2012, “ Dynamic Behavior Analysis of Planar Mechanical System With Clearance Joints Using a New Hybrid Contact Force Model,” Int. J. Mech. Sci., 54(1), pp. 190–205. [CrossRef]
Zhang, J. , Guo, H. W. , Liu, R. Q. , and Deng, Z. Q. , 2015, “ Nonlinear Characteristic of Spherical Joints With Clearance,” J. Aerosp. Technol. Manage., 7(2), pp. 179–184. [CrossRef]
Alves, J. , Peixinho, N. , Silva, M. T. , Flores, P. , and Lankarani, H. M. , 2015, “ A Comparative Study of the Viscoelastic Constitutive Models for Frictionless Contact Interfaces in Solids,” Mech. Mach. Theory, 85, pp. 172–188. [CrossRef]
Muvengei, O. , Kihiu, J. , and Ikua, B. , 2013, “ Dynamic Analysis of Planar Rigid-Body Mechanical Systems With Two-Clearance Revolute Joints,” Nonlinear Dyn., 73(1–2), pp. 259–273. [CrossRef]
Brutti, C., Coglitore, G., and Valentini, P. P. , 2011, “ Modeling 3D Revolute Joint With Clearance and Contact Stiffness,” Nonlinear Dyn., 66(4), pp. 531–548. [CrossRef]
Yan, S. Z. , Xiang, W. , and Zhang, L. , 2015, “ A Comprehensive Model for 3D Revolute Joints With Clearances in Mechanical Systems,” Nonlinear Dyn., 80(1–2), pp. 309–328. [CrossRef]
Erkaya, S. , and Uzmay, I. , 2009, “ Investigation on Effect of Joint Clearance on Dynamics of Four-bar Mechanism,” Nonlinear Dyn, 58, pp. 179–198. [CrossRef]
Erkaya, S. , 2017, “ Effects of Joint Clearance on Motion Accuracy of Robotic Manipulators,” J. Mech. Eng., in press. http://www.sv-jme.eu/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/
Liu, T. S. , and Lin, Y. S. , 1990, “ Dynamic Analysis of Flexible Linkages With Lubricated Joints,” J. Sound Vib., 144(2), pp. 193–205. [CrossRef]
Schwab, A. L. , Meijaard, J. P. , and Meijers, P. , 2002, “ A Comparison of Revolute Clearance Models in the Dynamic Analysis of Rigid and Elastic Mechanical Systems,” Mech. Mach. Theory, 37(9), pp. 895–913. [CrossRef]
Khemili, I. , and Romdhane, L. , 2008, “ Dynamic Analysis of a Flexible Slider–Crank Mechanism With Clearance,” Eur. J. Mech. Solids, 27(5), pp. 882–898. [CrossRef]
Dupac, M. , and Beale, D. G. , 2010, “ Dynamic Analysis of a Flexible Linkage Mechanism With Cracks and Clearance,” Mech. Mach. Theory, 45(12), pp. 1909–1923. [CrossRef]
Tian, Q. , Zhang, Y. Q. , Chen, L. P. , and Yang, J. , 2010, “ Simulation of Planar Flexible Multibody Systems With Clearance and Lubricated Revolute Joints,” Nonlinear Dyn., 60(4), pp. 489–511. [CrossRef]
Tian, Q. , Liu, C. , Machado, M. , and Flores, P. , 2011, “ A New Model for Dry and Lubricated Cylindrical Joints With Clearance in Spatial Flexible Multibody Systems,” Nonlinear Dyn., 64(1–2), pp. 25–47. [CrossRef]
Wang, G. , and Liu, H. , 2017, “ Dynamic Analysis and Wear Prediction of Planar Five-Bar Mechanism Considering Multiflexible Links and Multiclearance Joints,” ASME J. Tribol., 139(5), p. 051606. [CrossRef]
Erkaya, S. , and Uzmay, I. , 2014, “ Modeling and Simulation of Joint Clearance Effects on Mechanisms Having Rigid and Flexible Links,” J. Mech. Sci. Technol., 28(8), pp. 2979–2986. [CrossRef]
Bauchau, J. , and Rodriguez , 2002, “ Modeling of Joints With Clearance in Flexible Multibody Systems,” Int. J. Solid Struct., 39(1), pp. 41–63. [CrossRef]
Flores, P. , Ambrósio, J. , Claro, J. C. P. , and Lankarani, H. M. , 2006, “ Dynamics of Multibody Systems With Spherical Clearance Joints,” ASME J. Comput. Nonlinear Dyn., 1(3), pp. 240–247. [CrossRef]
Flores, P. , and Lankarani, H. M. , 2010, “ Spatial Rigid-Multibody Systems With Lubricated Spherical Clearance Joints: Modeling and Simulation,” Nonlinear Dyn., 60(1–2), pp. 99–114. [CrossRef]
Tian, Q. , Zhang, Y. Q. , Chen, L. P. , and Flores, P. , 2009, “ Dynamics of Spatial Flexible Multibody Systems With Clearance and Lubricated Spherical Joints,” Comput. Struct., 87(13–14), pp. 913–929. [CrossRef]
Wang, G. X., Liu, H. Z., Deng, P. S., Yin, K. M., and Zhang, G. G., 2017, “Dynamic Analysis of 4-SPS/CU Parallel Mechanism Considering Three-Dimensional Wear of Spherical Joint With Clearance,” ASME J. Tribol., 139(2), p. 021608.
Zheng, E. , Zhu, L. R. , Zhu, S. H. , and Lu, X. J. , 2016, “ A Study on Dynamics of Flexible Multi-Link Mechanism Including Joints With Clearance and Lubrication for Ultra-Precision Presses,” Nonlinear Dyn., 83(1–2), pp. 137–159. [CrossRef]
Tian, Q. , Sun, Y. L. , Liu, C. , Hu, H. Y. , and Flores, P. , 2013, “ Elastohydrodynamic Lubricated Cylindrical Joints for Rigid-Flexible Multibody Dynamics,” Comput. Struct., 114–115, pp. 106–120. [CrossRef]
Marques, F. , Isaac, F. , Dourado, N. , Souto, A. P. , Flores, P. , and Lankarani, H. M. , 2017, “ A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints,” ASME J. Comput. Nonlinear Dyn., 12(5), p. 051013. [CrossRef]
Erkaya, S. , Dogan, S. , and Sefkalloglu, E. , 2016, “ Analysis of the Joint Clearance Effects on a Compliant Spatial Mechanism,” Mech. Mach. Theory, 104, pp. 255–273. [CrossRef]
Wang, G. , Liu, H. , and Deng, P. , 2015, “ Dynamics Analysis of Spatial Multibody System With Spherical Joint Wear,” ASME J. Tribol., 137(2), p. 021605.
Mukras, S. , Kim, N. H. , Mauntler, N. A. , Schmitz, T. L. , and Sawyer, W. G. , 2010, “ Comparison Between Elastic Foundation and Contact Force Models in Wear Analysis of Planar Multibody System,” ASME J. Tribol., 132(3), p. 031604.
Su, Y., Chen, W., Tong, Y., and Xie, Y., 2010, “ Wear Prediction of Clearance Joint by Integrating Multi-Body Kinematics With Finite-Element Method,” Proc IMechE, Part J.: J. Eng. Tribol., 224(8), pp. 815–823.
Zhao, B. , Zhang, Z. N. , and Dai, X. D. , 2014, “ Modeling and Prediction of Wear at Revolute Clearance Joints in Flexible Multibody Systems,” Proc IMechE Part C: J. Mech. Eng. Sci., 228(2), pp. 317–329. [CrossRef]
Zhao, B. , Dai, X. D. , Zhang, Z. N. , Wu, S. H. , and Xie, Y. B. , 2014, “ Numerical Study of Parametric Effects on Joint Wear in the Flexible Multibody Systems With Different Flexibilities and Clearance Sizes,” Proc IMechE Part J.: J. Eng. Tribol., 228(8), pp. 819–835. [CrossRef]
Askari, E. , Flores, P. , Dabirrahmani, D. , and Appleyard, R. , 2014, “ Nonlinear Vibration and Dynamics of Ceramic on Ceramic Artificial Hip Joints: A Spatial Multibody Modelling,” Nonlinear Dyn., 76(2), pp. 1365–1377. [CrossRef]
Tian, Q. , Lou, J. , and Mikkola, A. , 2017, “ A New Elastohydrodynamic Lubricated Spherical Joint Model for Rigid-Flexible Multibody Dynamics,” Mech. Mach. Theory, 107, pp. 210–228. [CrossRef]
Hunt, K. H. , and Crossley, F. R. E. , 1975, “ Coefficient of Restitution Interpreted as Damping in Vibroimpact,” ASME Int. J. Appl. Mech., 42(2), pp. 440–445. [CrossRef]
Lankarani, H. M. , and Nikravesh, P. E. , 1990, “ A Contact Force Model With Hysteresis Damping for Impact Analysis of Multibody Systems,” ASME J. Mech. Des., 112(3), pp. 369–376. [CrossRef]
Flores, P. , Ambrósio, J. , Claro, J. C. P. , Lankarani, H. M. , and Koshy, C. S. , 2006, “ A Study on Dynamics of Mechanical Systems Including Joints With Clearance and Lubrication,” Mech. Mach. Theory, 41(3), pp. 247–261. [CrossRef]
Erkaya, S., and Uzmay, I., 2010, “Experimental Investigation of Joint Clearance Effects on the Dynamics of a Slider-Crank Mechanisms,” Multibody Syst. Dyn., 24(1), pp. 81–102.
Olyaei, A. A. , and Ghazavi, M. R. , 2012, “ Stabilizing Slider-Crank Mechanism With Clearance Joints,” Mech. Mach. Theory, 53, pp. 17–29.

Figures

Grahic Jump Location
Fig. 1

The global position of an arbitrary point P on body: (a) rigid body and (b) flexible body

Grahic Jump Location
Fig. 2

Model of spherical joint

Grahic Jump Location
Fig. 3

Modes of spherical joint with clearance

Grahic Jump Location
Fig. 4

Four-bar mechanism with a spherical clearance joint

Grahic Jump Location
Fig. 5

Spherical clearance joint with elastic bushing

Grahic Jump Location
Fig. 6

Flexible socket: five typical eigenfrequencies and eigenmodes: (a) undeformed flexible element of the socket, (b) first mode and natural frequency, (c) second mode and natural frequency, (d) third mode and natural frequency, (e) fourth mode and natural frequency, and (f) fifth mode and natural frequency

Grahic Jump Location
Fig. 7

The four-bar mechanism model with a spherical clearance joint under adams

Grahic Jump Location
Fig. 8

Displacement of point B: (a) displacement of the x-direction, (b) displacement of the y-direction, (c) enlarged drawing of the x-displacement, and (d) enlarged drawing of the y-displacement

Grahic Jump Location
Fig. 9

Change of minimum displacement in different cycles: (a) x-direction and (b) y-direction

Grahic Jump Location
Fig. 10

Velocity of point B: (a) velocity, (b) enlarged drawing of the x-velocity, and (c) enlarged drawing of the x-velocity

Grahic Jump Location
Fig. 11

Change of minimum velocity in different cycles: (a) x-direction and (b) y-direction

Grahic Jump Location
Fig. 12

Acceleration of point B

Grahic Jump Location
Fig. 13

Ball center path of imperfect spherical joint: (a) path of the rigid joint, (b) path of the flexible joint, (c) path of the rigid joint in xz-plane, (d) path of the flexible joint in xz-plane, (e) path of the rigid joint in yz-plane, and (f) path of the flexible joint in yz-plane

Grahic Jump Location
Fig. 14

Displacement of point B for different clearance sizes: (a) x-direction and (b) y-direction

Grahic Jump Location
Fig. 15

Velocity of point B for different clearance sizes: (a) x-direction and (b) y-direction

Grahic Jump Location
Fig. 16

Acceleration of joint B for different clearance sizes: (a) c = 0.2 mm, (b) c = 0.5 mm, (c) c = 0.8 mm, and (d) c = 1.0 mm

Grahic Jump Location
Fig. 17

Displacement of point B for different driving speeds: (a) x-direction and (b) y-direction

Grahic Jump Location
Fig. 18

Velocity of point B for different driving speeds: (a) x-direction and (b) y-direction

Grahic Jump Location
Fig. 19

Acceleration of point B for different driving speeds: (a) n = 1.6 sin(0.5πt), (b) n = 1.6 sin(πt), (c) n = 1.6 sin(10πt), and (d) n = 1.6 sin(50πt)

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