Simulation and Experimentation of Multibody Mechanical Systems with Clearance Revolute Joints
Clearance in the joints of multibody mechanical
systems such as linkage mechanisms and robots is a main source of
vibration, and noise of the whole system, and wear of the joints
themselves. This clearance is an inevitable matter and cannot be
eliminated, since it allows the relative motion between joint
components and make them assemblage. This paper presents an
experimental verification of the obtained simulation results of a slider
– crank mechanism of one clearance revolute joint. The simulation
results are obtained with the aid of CAD and dynamic simulation
softwares, which is an effective method of simulation multibody
systems with clearance joints and have many advantages. The
comparison between both simulation and experimental results shows
that the simulation results are so close to the experimental ones which
proves the accuracy and efficiency of this method of modeling and
simulation of mechanical systems with clearance joints.
[1] Flores, P., Ambrosio, J., Claro, J.C.P, Lankarani, H.M., Koshy, C.S.,
2006, "A study on dynamics of mechanical systems including joints with
clearance and lubrication", Journal of Mechanisms and Machine Theory,
Vol 41, pp. 247-261.
[2] Flores, P., 2009, "Modeling and simulation of wear in revolute clearance
joints in multibody systems", Journal of Mechanism and Machine
Theory, Vol 44, pp. 1211-1222.
[3] Flores P., 2011"A parametric study on the dynamic response of planar
multibody systems with multiple clearance joints". Nonlinear Dynamics,
Vol. 61(4), pp. 633-653, 2010
[4] Liu, C-.S., Zhang, K., Yang, R., 2007, "The FEM analysis and
approximate model for cylindrical joints with clearances", Journal of
Mechanism and Machine Theory, Vol 42, pp. 183-197.
[5] Mukras, S., Kim, N.H., Mauntler, N.A., Schmitz, T.L., Sawyer, W.G.,
2010, "Analysis of planar multibody systems with revolute joint wear",
Journal of Wear, Vol 268, pp. 643-652.
[6] Park, H.B., Kwak, B.M., 1987, "Counterweight optimization for
reducing dynamic effects of clearance at a revolute joint", Journal of
Mechanism and Machine Theory, Vol 22, pp. 549-556.
[7] Rhee, J., Akay, A., 1996, "Dynamic response of a revolute joint with
clearance", Journal of Mechanism and Machine Theory, Vol 31, pp.
121-134(14).
[8] Ting, K.-L., Zhu, J., Watkins, D., 2000, "The effects of joint clearance
on position and orientation deviation of linkages and manipulators",
Journal of Mechanism and Machine Theory, Vol 35, pp. 391-401.
[9] Zhang, Y., Huang, X., 2010, "Robust tolerance design for function
generation mechanism with joint clearances", Journal of Mechanism and
Machine Theory, Vol 45, pp. 1286-1297.
[10] Dupac, M., Beale, D., 2010, "Dynamic analysis of a flexible linkage
mechanism with cracks and clearance", Journal of Mechanism and
Machine Theory, Vol 45, pp. 1909-1923
[11] Bai, Z., Zhao, Y., 2011 "Dynamics analysis of space robot manipulator
with joint clearance". Journal of Acta Astronautica, Vol 68, pp. 1147-
1155
[12] Megahed, S.M. and Haroun, A.F., (2010), "Study of the Dynamic
performance of Mechanical systems with Multi-Clearance Joints",
Proceedings of the ASME 2010 International Mechanical Engineering
Congress & Exposition, IMECE2010, November 12-18, 2010,
Vancouver, British Columbia, Canada, (Paper # IMECE2010-37270).
[13] Megahed, S.M. and Haroun, A.F., 2010, "Analysis of the dynamic
behavioral performance of mechanical systems with multi-clearance
joints", ASME Journal of Computational and Nonlinear Dynamics, Vol
7, 011002 (2012)
[14] Haroun, A.F., and Megahed, S.M., 2011, "Analysis of the dynamic
behavioral performance of sptial multibody mechanical systems with
Multi-clearance spherical joint", Proceedings of the ASME 2011
International Mechanical Engineering Congress & Exposition,
IMECE2011, November 11-17, 2010, Denver, Colorado, USA, (Paper #
IMECE2011-62379). 2011.
[15] Shabana, A.A., 2001, Computational Dynamics 2nd Edition, John Wiley
& Sons, Inc, New York.
[16] Timoshenko, S.P., Goodier J.N., 1970, Theory of elasticity, McGraw-
Hill, New York.
[17] Lankrani, H. M., Nikravesh, P. E., 1990, "A contact force model with
hysteresis damping for impact analysis of multibody systems", Journal
of Mechanical Design, Vol 112, pp. 396-376.
[1] Flores, P., Ambrosio, J., Claro, J.C.P, Lankarani, H.M., Koshy, C.S.,
2006, "A study on dynamics of mechanical systems including joints with
clearance and lubrication", Journal of Mechanisms and Machine Theory,
Vol 41, pp. 247-261.
[2] Flores, P., 2009, "Modeling and simulation of wear in revolute clearance
joints in multibody systems", Journal of Mechanism and Machine
Theory, Vol 44, pp. 1211-1222.
[3] Flores P., 2011"A parametric study on the dynamic response of planar
multibody systems with multiple clearance joints". Nonlinear Dynamics,
Vol. 61(4), pp. 633-653, 2010
[4] Liu, C-.S., Zhang, K., Yang, R., 2007, "The FEM analysis and
approximate model for cylindrical joints with clearances", Journal of
Mechanism and Machine Theory, Vol 42, pp. 183-197.
[5] Mukras, S., Kim, N.H., Mauntler, N.A., Schmitz, T.L., Sawyer, W.G.,
2010, "Analysis of planar multibody systems with revolute joint wear",
Journal of Wear, Vol 268, pp. 643-652.
[6] Park, H.B., Kwak, B.M., 1987, "Counterweight optimization for
reducing dynamic effects of clearance at a revolute joint", Journal of
Mechanism and Machine Theory, Vol 22, pp. 549-556.
[7] Rhee, J., Akay, A., 1996, "Dynamic response of a revolute joint with
clearance", Journal of Mechanism and Machine Theory, Vol 31, pp.
121-134(14).
[8] Ting, K.-L., Zhu, J., Watkins, D., 2000, "The effects of joint clearance
on position and orientation deviation of linkages and manipulators",
Journal of Mechanism and Machine Theory, Vol 35, pp. 391-401.
[9] Zhang, Y., Huang, X., 2010, "Robust tolerance design for function
generation mechanism with joint clearances", Journal of Mechanism and
Machine Theory, Vol 45, pp. 1286-1297.
[10] Dupac, M., Beale, D., 2010, "Dynamic analysis of a flexible linkage
mechanism with cracks and clearance", Journal of Mechanism and
Machine Theory, Vol 45, pp. 1909-1923
[11] Bai, Z., Zhao, Y., 2011 "Dynamics analysis of space robot manipulator
with joint clearance". Journal of Acta Astronautica, Vol 68, pp. 1147-
1155
[12] Megahed, S.M. and Haroun, A.F., (2010), "Study of the Dynamic
performance of Mechanical systems with Multi-Clearance Joints",
Proceedings of the ASME 2010 International Mechanical Engineering
Congress & Exposition, IMECE2010, November 12-18, 2010,
Vancouver, British Columbia, Canada, (Paper # IMECE2010-37270).
[13] Megahed, S.M. and Haroun, A.F., 2010, "Analysis of the dynamic
behavioral performance of mechanical systems with multi-clearance
joints", ASME Journal of Computational and Nonlinear Dynamics, Vol
7, 011002 (2012)
[14] Haroun, A.F., and Megahed, S.M., 2011, "Analysis of the dynamic
behavioral performance of sptial multibody mechanical systems with
Multi-clearance spherical joint", Proceedings of the ASME 2011
International Mechanical Engineering Congress & Exposition,
IMECE2011, November 11-17, 2010, Denver, Colorado, USA, (Paper #
IMECE2011-62379). 2011.
[15] Shabana, A.A., 2001, Computational Dynamics 2nd Edition, John Wiley
& Sons, Inc, New York.
[16] Timoshenko, S.P., Goodier J.N., 1970, Theory of elasticity, McGraw-
Hill, New York.
[17] Lankrani, H. M., Nikravesh, P. E., 1990, "A contact force model with
hysteresis damping for impact analysis of multibody systems", Journal
of Mechanical Design, Vol 112, pp. 396-376.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:61946", author = "A.F. Haroun and S.M. Megahed", title = "Simulation and Experimentation of Multibody Mechanical Systems with Clearance Revolute Joints", abstract = "Clearance in the joints of multibody mechanical
systems such as linkage mechanisms and robots is a main source of
vibration, and noise of the whole system, and wear of the joints
themselves. This clearance is an inevitable matter and cannot be
eliminated, since it allows the relative motion between joint
components and make them assemblage. This paper presents an
experimental verification of the obtained simulation results of a slider
– crank mechanism of one clearance revolute joint. The simulation
results are obtained with the aid of CAD and dynamic simulation
softwares, which is an effective method of simulation multibody
systems with clearance joints and have many advantages. The
comparison between both simulation and experimental results shows
that the simulation results are so close to the experimental ones which
proves the accuracy and efficiency of this method of modeling and
simulation of mechanical systems with clearance joints.", keywords = "CAD and dynamic simulator softwares, Clearance
joints, , Experimental results, Slider – crank mechanism.", volume = "6", number = "3", pages = "710-10", }
