Dynamics and control of a spatial rigid-flexible multibody system with multiple cylindrical clearance joints

Liu, Cheng; Tian, Qiang; Hu, Haiyan

doi:10.1016/j.mechmachtheory.2012.01.016

Cited by 107 publications

(54 citation statements)

References 47 publications

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“…This method is developed by Shabana and Yakoub [46] and is widely used in the modeling of flexible parts in mechanical systems [27]. The global position of an arbitrary point in the 3D ANCF-based element can be determined by considering the nodal coordinates vector e with 24 coordinates [27] r = Se (26) where s is the element shape function. And the element motion equations are expressed as…”

Section: Case Studymentioning

confidence: 99%

“…The results reveal that the flexibility has a significant effect on the vibration response of the mechanism with joint clearance. Liu et al [26] studied the dynamics and control of a rigid-flexible multi-body system with multiple cylindrical clearance joints using the absolute coordinate-based method. In their study, the rigid bodies were described by the natural coordinate formulation, while the flexible bodies were characterized by the absolute nodal coordinate formulation.…”

mentioning

confidence: 99%

“…This technique works for both planar and spatial mechanisms. Liu and Tian [26,36] proposed an absolute coordinate-based method to study the dynamics and control of a spatial rigid-flexible multi-body system with cylindrical clearance joints. In addition, Flores et al [37] presented a method to assess the influence of the spatial clearance joints in multi-body systems.…”

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confidence: 99%

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A comprehensive model for 3D revolute joints with clearances in mechanical systems

2015

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A mechanical system with clearance joints is well known as a nonlinear dynamic system that may exhibit chaotic responses under certain conditions. In the previous literature, the model for clearance joint is extensively investigated since it plays a significant role in prediction of kinematic and dynamic behavior of the system. A large volume of the literature only focuses on radial clearances, whereas, due to manufacturing and assembling errors, axial clearances also exist in joints, which have been scarcely considered. In this study, a comprehensive model for 3D revolute joints with radial and axial clearances is proposed. An experiment of the 3D revolute joint with clearances is firstly conducted to reveal the characteristics of the relative motion between the journal and bearing. According to the kinematic features, a model for 3D revolute joints with radial and axial clearances is proposed. This model presents a comprehensive description of the contact modes in which a group of contact force models are employed to reflect different contact-impact phenomena. Thus, the axial movement of the journal relative to the bearing and misalignment between the two elements could be characterized by this model. Moreover, a numerical simulation of the experiment is performed to validate the model presented in this study. Finally, a four-bar mechanism is taken as an example to illustrate its application and investigate the nonlinear dynamics of this system. List of symbolsO − i 1 i 2 i 3 Global coordinate system O − e 1 e 2 e 3 Local coordinate system R Radius (m) δ Penetration depth (m) F Magnitude of a force (N) M Magnitude of a moment (N m) K Generalized stiffness (N/m 1.5 ) D Damping coefficient (N s/m) υ Poisson's ratio of each sphere (i = 1, 2) E Young's modulus of each sphere (i = 1, 2), GPȧ δ Penetration velocity (m/s) δ − Initial impact velocity (m/s) s Half-length of contact area width (m) l Length of the contact area (m) p Pressure (m Pa) V Relative tangential velocity (m/s) V s Stick-slip switch velocity (m/s) V d Static-sliding friction switch velocity (m/s) μ s Static friction coefficient μ d Sliding friction coefficient 123 S. Yan et al. ω Angular velocity (rad/s) c Radial clearance (mm)

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Section: Case Studymentioning

confidence: 99%

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A comprehensive model for 3D revolute joints with clearances in mechanical systems

2015

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“…Liu et al [13] used the ANCF-NCF combined method to compute the dynamic response of a large scale rigid-flexible multibody system composed of composite laminated plates. More applications about the ANCF in multibody systems can be found in references [14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

Dynamic computation of flexible multibody system with uncertain material properties

Luo

Zhang

et al. 2016

Nonlinear Dyn

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Based on the theory of Absolute Nodal Coordinate Formulation (ANCF), this paper proposes a new dynamic computation method to solve the flexible multibody system with uncertain material properties (Young's modulus and Poisson's ratio) that may be induced by the material asymmetric distribution.Rather than traditionally considering an uncertain factor as one single variable in the whole system, the material properties vary continuously in the space domain so that they are described by the random field, which is then discretized to countable random variables using the expansion optimization linear estimation (EOLE) method. The uncertain response of the system is approximated by the Polynomial Chaos (PC) expansion, numerically implemented by a collocation method. We propose and prove an important theory that the collocation method provides the same results as the Gaussian quadrature formula if the roots of the corresponding orthogonal polynomials are used as the collocation points. As a result, the proposed method is a non-intrusive technique that does not modify the original solver but only adds a pre-process and a post-process. The uncertain displacement of system is finally illustrated by an ellipse and ellipsoid, which visually show the uncertainty extent and correlation between different coordinates. The numerical examples show that the proposed method has almost an equivalent accuracy of Monte Carlo simulation but much higher efficiency.

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“…Erkaya and Uzmay [25] and Flores and Lankarani [26,27] investigated the dynamic response of a fourbar mechanism and a slider-crank mechanism having two revolute joints with clearance, respectively. Liu et al [28] and Megahed and Haroun [29] analysed a slider-crank mechanism with one and two clearance joints when working in vertical and horizontal planes. This study shows that, when the mechanism works in the horizontal plane, the rate of impacts at each clearance joint increase and consequently the clearance joints and actuators will deteriorate faster.…”

Section: Introductionmentioning

confidence: 99%

A general method for impact dynamic analysis of a planar multi-body system with a rolling ball bearing joint

2014

Nonlinear Dyn

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Impact affects the dynamic characteristics of mechanical multi-body systems and damages those rotating parts, such as the joint rolling element bearings, which are high-precision, defect intolerant components. Based on multi-body dynamic theory, Hertzian contact theory, and a continuous contact model, this study proposed a modelling method that can describe the dynamic behaviour of planar mechanical multibody systems containing a rolling ball bearing joint under impact. In this method, the rigid bodies and bearing joint were connected according to their joint force constraints; the impact constraint between the multibody system and the target rigid body was constructed using a continuous contact force model. Based on this method, the reflection relationship between the external impacts of the mechanical multi-body system and the variation law governing the dynamic load on the rolling bearing joint were revealed. Subsequently, an impact multi-body system, which was composed of a slidingcrank mechanism containing a rolling ball bearing joint and the target rigid body with an elastic support, was analysed to explore the dynamic response of such a complex discontinuous dynamic system andthe relevant relationship governing the dynamic load on the rolling bearing joint. In addition, a multi-body dynamic simulation software was used to build a virtual prototype of the impact slider-crank system. Compared with the theoretical model, the prototype had an additional deep groove ball bearing. That is to say, the prototype model took account of the specific geometric structural characteristics and the complex contact relationship of the inner and outer races, rolling balls, and bearing cage. Finally, the effectiveness of the theoretical method proposed in this study was verified by comparative analysis of the results. The results suggested that the external impact of a mechanical multi-body system was prone to induce sudden changes in the equivalent reaction force on its bearing joint and the dynamic load carried on its rolling balls. This study provided an effective method for exploring the distribution characteristics of dynamic loads on rolling ball bearing joints under working impact load conditions. Moreover, it offered support for the parameter optimisation of geometric structure, performance evaluation, and dynamic design of the rolling ball bearings.

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Dynamics and control of a spatial rigid-flexible multibody system with multiple cylindrical clearance joints

Cited by 107 publications

References 47 publications

A comprehensive model for 3D revolute joints with clearances in mechanical systems

A comprehensive model for 3D revolute joints with clearances in mechanical systems

Dynamic computation of flexible multibody system with uncertain material properties

A general method for impact dynamic analysis of a planar multi-body system with a rolling ball bearing joint

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