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Research Papers

Dynamic Analysis of Planar Mechanical Systems With Clearance Joint Based on LuGre Friction Model

[+] Author and Article Information
Xiao Tan

State Key Laboratory of Mechanics
and Control of Mechanical Structures,
Nanjing University of Aeronautics
and Astronautics,
Nanjing 210016, China

Guoping Chen

State Key Laboratory of Mechanics
and Control of Mechanical Structures,
Nanjing University of Aeronautics
and Astronautics,
Nanjing 210016, China
e-mail: gpchen@nuaa.edu.cn

Dongyang Sun

College of Aerospace Engineering,
Chongqing University,
Chongqing 400044, China

Yan Chen

State Key Laboratory of Mechanics and Control
of Mechanical Structures,
Nanjing University of Aeronautics and
Astronautics,
Nanjing 210016, China

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received November 21, 2017; final manuscript received March 29, 2018; published online April 18, 2018. Assoc. Editor: Corina Sandu.

J. Comput. Nonlinear Dynam 13(6), 061003 (Apr 18, 2018) (9 pages) Paper No: CND-17-1515; doi: 10.1115/1.4039877 History: Received November 21, 2017; Revised March 29, 2018

A computational methodology to model and analyze planar rigid mechanical system with stick–slip friction in revolute clearance joint is presented. In this work, the LuGre friction model, which captures the Stribeck effect and spring-like characteristics for stiction, is employed to estimate the stick–slip friction in revolute clearance joint. A hybrid contact force model, combining Lankarani–Nikravesh model, and improved elastic foundation model, is used to establish contact model. The generalized-α method, which can dissipate the spurious high-frequency responses caused by the strongly nonlinear contact force and friction in numerical simulation, is adopted to solve the equations of motion and make the result closer to the physics of the problem. A slider-crank mechanism with revolute clearance joint based on LuGre friction model and modified coulomb friction model are simulated, respectively, and utilized to discuss the influences of the Stribeck effect and stiction on dynamic behavior of the mechanism. Different test scenarios are considered to investigate the effects of the clearance size and friction coefficient on the dynamic response of the mechanism. The results show that the mechanism based on LuGre friction model has better energy dissipation characteristics, while there are stiction phenomena of the contacting surfaces in many cases. When the relative velocity is zero or close to zero, the contact force of mechanism based on the LuGre friction model is significantly lower than that based on the modified coulomb friction model. Clearance size and friction coefficient obviously affect dynamic behavior of the mechanism.

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Figures

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Fig. 1

The Coulomb friction force model

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Fig. 2

The modified Coulomb friction force model

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Fig. 3

The LuGre friction model

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Fig. 4

Model of revolute clearance joint

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Fig. 5

The forces in the revolute clearance joint

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Fig. 6

The numerical iteration procedure for the generalized-α method

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Fig. 7

The slider-crank mechanism with joint clearance

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Fig. 8

Comparison of dynamic response between the ideal and the imperfect joints with 0.1 mm and 0.5 mm clearance: (a) reaction force and (b) slider acceleration

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Fig. 9

Comparison of dynamic response between the imperfect joints with friction and without friction: (a) reaction force and (b) slider acceleration

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Fig. 10

Comparison of dynamic response between the imperfect joints with different coefficient of coulomb friction (μC) for a small period of time: (a) slider acceleration and (b) contact force

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Fig. 11

Comparison of dynamic response between the imperfect joints with LuGre friction model and modified coulomb friction model: (a) friction force, (b) relative velocity of the contacting bodies, (c) contact force, and (d) slider acceleration

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