A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Abstract

A comprehensive survey of the literature of the most relevant analytical, numerical, and experimental approaches for the kinematic and dynamic analyses of multibody mechanical systems with clearance joints is presented in this review. Both dry and lubricated clearance joints are addressed here, and an effort is made to include a large number of research works in this particular field, which have been published since the 1960's. First, the most frequently utilized methods for modeling planar and spatial multibody mechanical systems with clearance joints are analyzed, and compared. Other important phenomena commonly associated with clearance joint models, such as wear, non-smooth behavior, optimization and control, chaos, and uncertainty and links' flexibility, are then discussed. The main assumptions procedures and conclusions for the different methodologies are also examined and compared. Finally, future developments and new applications of clearance joint modeling and analysis are highlighted.

Direct differentiation method for sensitivity analysis based on transfer matrix method for multibody systems

“…For a chain system shown in Figure , according to Newton's third law and kinematics and the sign convention in the work of Tian et al for MSTMM, the static vector at the output end of element j coincides with that at the input end of element k , namely z j , O = z k , I . This allows to eliminate the intermediate state vector z k , I by transfer equation that z k , O = U k z k , I ≡ U k z j , O = U k U j z j , I .…”

“…It always has the smallest order of system matrix and much higher computational efficiency than ordinary method and avoids the computing difficulties caused by too high matrix orders of complex multibody systems. Computational time of new version of MSTMM and Lagrange method is compared in the work of Tian et al, which indicates the computational efficient of new version of MSTMM.…”

“…Since 1960s, many computational methods have been proposed for MSD such as Wittenburg method, Schiehlen method, Kane method, etc. Many researchers make lots of studies about multibody mechanical systems . However, the global dynamics equations are always needed to establish in these methods, which will create difficulties and errors during the sensitivity analysis.…”

Dynamic Responses of Planar Multilink Mechanism considering Mixed Clearances

“…While two adjacent slider corners contact with the guide, collision force acts on the centroid of the embedded region, marked as G in Figure 4(a). Contact force could be expressed as [5,29] F n � Kδ,…”

“…Translational and revolute joints are important parts to connect each component of planar multilink mechanisms. Translational and revolute clearances will cause impact between components, which will lead to a deviation between the expected output and the real output, and it also degrades the accuracy and stability [5][6][7][8][9]. Dynamic characteristics of multilink mechanisms become worse.…”