Effects of joint clearance on the dynamics of a partly compliant mechanism: Numerical and experimental studies

Analysis of the joint clearance effects on a compliant spatial mechanism

“…In the compliant mechanism, free-flight and impact modes are relatively decreased due to the flexibility of compliant joint. It may be accomplished by a force-closed kinematic pair effect inside the clearance joint due to the torsional spring behaviour of the multi-axis flexural pivot [6,7]. At the same time, much more continuous contact mode is seen in the compliant mechanism.…”

“…As seen from figure, classic mechanism has bigger frequency of contact force than compliant mechanism. At the end of free-flight mode, impact is inevitable between the ball and socket surfaces [6,7,30]. This force behaviour is a reflection of more free-flight mode inside the spherical joint with clearance in the classic mechanism.…”

“…To the best of our knowledge, studies on partly compliant mechanisms with joints clearance are very limited. Some of them are only about theoretical and experimental investigations of a partly compliant planar mechanism [6,7]. In those studies, a planar slider-crank mechanism was used to investigate the effects of clearance and pseudo joint.…”

Vector form intrinsic finite element method for planar multibody systems with multiple clearance joints

“…Muvengei et al [3] investigated the effects on the dynamic responses of a mechanical system by the location of the clearance, the clearance size and the operating speed. In addition to the rigid multibody mechanical systems, numerical and experimental studies of the partly compliant mechanism were carried out by Erkaya and Dogan [4] and Erkaya et al [5]. The dynamic responses of some complex mechanisms were also investigated.…”

A study on dynamics of flexible multi-link mechanism including joints with clearance and lubrication for ultra-precision presses

“…Muvengei et al [10] studied the behavior of planar rigid-body mechanical systems due to the dynamic interaction of multiple revolute clearance joints by using a slider-crank mechanism and found that clearance joints in a multi-body mechanical system had a strong dynamic interaction. Erkaya et al [11][12][13] studied dynamic response of mechanism having revolute joints with clearance, which demonstrates that the joint clearance leads to chaotic behavior on kinematic and dynamic outputs of mechanism and the optimal adjusting of suitable design variables gives a certain decrease in shaking forces and their moments on the mechanism frame. Machado et al [14] analyzed the main issues associated with the most common compliant contact force models and presented results in terms of the dynamic simulations of multi-body systems.…”