Survey: 2-dimensional motion and impact at revolute joints

Haines, Roger

doi:10.1016/0094-114x(80)90013-0

Cited by 61 publications

(26 citation statements)

References 34 publications

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“…Grant and Fawcett [15] proposed a method to prevent contact-loss between the journal and bearing. Their experimental results verified the approach for a limited class of systems, however, the method is not universal [16]. Townsend and Mansour [17] modeled a four bar crank-rocker mechanism with clearance as two sets of NODY9583_source 4 compound pendulums in a theoretical study.…”

Section: Introductionmentioning

confidence: 94%

Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation

2009

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The dynamic modeling and simulation of spatial rigid-multi-body systems with lubricated spherical joints is the main purpose of the present work. This issue is of paramount importance in the analysis and design of realistic multibody mechanical systems undergoing spatial motion.When the spherical clearance joint is modeled as dry contact; i.e., when there is no lubricant between the mechanical elements which constitute the joint, a body-to-body (typically metal-tometal) contact takes place. The joint reaction forces in this case are evaluated through a Hertzian-based contact law. A hysteretic damping factor is included in the dry contact force model to account for the energy dissipation during the contact process. The presence of a fluid lubricant avoids the direct metal-to-metal contact. In this situation, the squeeze film action, due to the relative approaching motion between the mechanical joint elements, is considered utilizing the lubrication theory associated with the spherical bearings. In both cases, the intrajoint reaction forces are evaluated as functions of the geometrical, kinematical and physical characteristics of the spherical joint. These forces are then incorporated into a standard formulation of the system's governing equations of motion as generalized external forces. A spatial four bar mechanism that includes a spherical clearance joint is considered here as example. The computational simulations are carried out with and without the fluid lubricant, and the results are compared with those obtained when the system is modeled with perfect joints only. From the general results it is observed that the system's performance with lubricant effect presents fewer peaks in the kinematic and dynamic outputs, when compared with those from the dry contact joint model.

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Section: Introductionmentioning

confidence: 94%

Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation

2009

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“…Different number of joints with clearance were considered in their studies, and the effect of these combinations, all joints with clearance, one, two or three joints with clearance, etc., on the dynamic characteristics of systems were investigated and compared to each other. A literature review concerned with two-dimensional motion and impact at revolute joints with clearance was presented by Haines [10]. Bengisu et al described the dynamic behavior of a four-bar mechanism with a clearance at any one of its connections using a quasi-static model [11].…”

Section: Introductionmentioning

confidence: 99%

Investigation on effect of joint clearance on dynamics of four-bar mechanism

2009

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As a result of design, manufacturing and assembly processes or a wear effect, clearances are inevitable at the joints of mechanisms. In this study, dynamic response of mechanism having revolute joints with clearance is investigated. A four-bar mechanism having two joints with clearance is considered as a model mechanism. A neural network was used to model several characteristics of joint clearance. Kinematic and dynamic analyses were achieved using continuous contact mode between journal and bearing. A genetic algorithm was also used to determine the appropriate values of design variables for reducing the additional vibration effect due primarily to the joint clearance. The results show that the optimal adjusting of suitable design variables gives a certain decrease in shaking forces and their moments on the mechanism frame.

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“…Modelling and simulation of multibody dynamics with joint clearances is relatively new area of research [96]. Three reviews are identified from literature namely Haines [101]-unlubricated revolute joints (1979), Flores (2010) [21] and Machado et al-compliant contact force models (2012) [102]. The problem of multibody impact with friction was first analysed by Routh in 1891 [100].…”

Section: Mechanistic Models With Clearance and Frictionmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

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This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

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Survey: 2-dimensional motion and impact at revolute joints

Cited by 61 publications

References 34 publications

Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation

Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation

Investigation on effect of joint clearance on dynamics of four-bar mechanism

A review of friction models in interacting joints for durability design

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