Dynamics analysis of planar multi-DOF mechanism with multiple revolute clearances and chaos identification of revolute clearance joints

Chen, Xiulong; Jiang, Shuai; Wang, Suyu; Deng, Yu

doi:10.1007/s11044-018-09654-0

Cited by 29 publications

(11 citation statements)

References 30 publications

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“…Also, as the driving speed rises, the dynamic responses tend to be more sensitive and deteriorated more dramatically by clearance joints, which can be also found in recent study on a multi-link mechanism. 20 Besides, two impacts will appear successively and feature periodicity during the movement. This indicates that for multi-link articulated mechanism with clearance joint, these impacts only emerge at specific positions.…”

Section: Results Analysismentioning

confidence: 99%

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Zhao

Xie

et al. 2021

Advances in Mechanical Engineering

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Joint clearance is unavoidable in the revolute joint of multi-link mechanism. Excessive value of joint clearance generally leads to the noise, vibration, and fatigue failure. In this paper, a multi-link articulated mechanism system with three revolute clearance joints is selected as the study object. At first, its ideal motion equations and dynamic responses without joint clearance are outlined. Then an experimental rig is set up, and the acceleration responses of the mechanism in different scenarios are investigated. Comparative analysis indicates that in the presence of joints clearance, clear periodic transient impacts appear in the acceleration outputs while this mechanism moves to specific positions, and the impacts amplitude increases along with the clearance size and driving speed. Also, certain sequence among three motion states of clearance joint, named free flight, penetration and continuous-contact is observed twice in one circle movement of the mechanism. Besides, the clearance joint at the end of the transmission chain has greater effects on the mechanism system than the other joints. Finally, flexible rubber sleeves are set into the clearance joints, and the obtained experimental results indicate that the undesired transient impact by clearance joints on the mechanical system can be suppressed by flexible sleeves.

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Section: Results Analysismentioning

confidence: 99%

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Zhao

Xie

et al. 2021

Advances in Mechanical Engineering

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“…where σ 0 represents the bristle stiffness, σ 1 represents the microscopic damping coefficient, σ 2 represents the viscous friction coefficient, and v is the tangential velocity. Evolution differential equation of average bristle deflection [13,27] could be given by…”

Section: E Tangential Force Model Of Revolute Clearancementioning

confidence: 99%

Dynamic Response Analysis of Planar Multilink Mechanism considering Wear in Clearances

Jiang

Chen

Deng

2019

Shock and Vibration

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Clearance wear is one of the factors that affects dynamics for mechanical systems. A numerical methodology suitable for modeling and calculation of wear at multiple revolute clearance pairs in the field of the planar multilink mechanism is proposed. In this paper, the 2-DOF nine-bar mechanism considering two revolute clearance joints is regarded as the study object. Normal contact force and friction force models of revolute clearance joints used Lankarani–Nikravesh (L-N) and LuGre models, respectively. The iterative wear prediction process based upon Archard’s model has been applied to calculate wear characteristics. The wear prediction procedure is integrated with multibody dynamics, wear depths at revolute clearance joints are calculated, and the surface of shaft and bearing is reconstructed twice. The dynamic responses of mechanism considering two nonregular revolute clearances caused by wear are studied in depth. The nonlinear characteristics of the mechanism after wear are studied by the phase diagram and Poincaré map. Influences of different initial constant clearance values and different driving speeds on wear of two revolute joints are also researched. The results show that it is necessary to consider the factor of irregular clearances caused by wear in analysis of dynamics of precision mechanisms. Initial constant clearance values and driving speeds have some influence on wear phenomenon. This research provides a theoretical basis for studying dynamics of the planar multilink mechanism considering wear in multiple clearances.

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“…Ting et al 2 researched the effect of joint clearance superposition on output rod of linkage mechanism by using Ting's rotation law, and explained the effect of joint clearances modeling, joint clearances superposition formation, and combination of different clearance positions on the output rod. Chen et al 3 analyzed the effect of multi-clearance and different friction models on the dynamics characteristics of planar linkage mechanism, and verified the accuracy of the data by simulation with Adams software. Bai et al 4 used a hybrid nonlinear contact force model and Archard wear model, and proposed a method combining dynamic analysis with wear analysis.…”

Section: Introductionmentioning

confidence: 99%

Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism

Chen

Guo

2020

Robotica

Self Cite

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SUMMARY This paper proposes a dynamic modeling method of redundant drive spatial parallel mechanism, dynamics of 4-UPS-RPU redundant driving spatial parallel mechanism considering spherical joint clearance are analyzed. The dynamic equation of spherical joint clearance with Lagrange multiplier is built. The influences of single clearance and multiple clearances on dynamic responses of redundant drive spatial parallel mechanisms are analyzed under different clearance values. The results show that the dynamic characteristics of the mechanism with single clearance are basically consistent with the ideal situation, and the dynamic characteristics of the mechanism with multi-clearance are significantly different from the ideal situation.

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Dynamics analysis of planar multi-DOF mechanism with multiple revolute clearances and chaos identification of revolute clearance joints

Cited by 29 publications

References 30 publications

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Dynamic Response Analysis of Planar Multilink Mechanism considering Wear in Clearances

Effects of Spherical Clearance Joint on Dynamics of Redundant Driving Spatial Parallel Mechanism

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