This work deals with a methodology to assess the influence of the spherical clearance joints in spatial multibody systems. The methodology is based on the Cartesian coordinates, with the dynamics of the joint elements modeled as impacting bodies and controlled by contact forces. The impacts and contacts are described by a continuous contact force model that accounts for geometric and mechanical characteristics of the contacting surfaces. The contact force is evaluated as function of the elastic pseudo-penetration between the impacting bodies, coupled with a nonlinear viscous-elastic factor representing the energy dissipation during the impact process. A spatial four-bar mechanism is used as an illustrative example and some numerical results are presented, with the efficiency of the developed methodology discussed in the process of their presentation. The results obtained show that the inclusion of clearance joints in the modelization of spatial multibody systems significantly influences the prediction of components’ position and drastically increases the peaks in acceleration and reaction moments at the joints. Moreover, the system’s response clearly tends to be nonperiodic when a clearance joint is included in the simulation.
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e-mail: pflores@dem.uminho.pt
e-mail: jorge@dem.ist.utl.pt
e-mail: jcpclaro@dem.uminho.pt
e-mail: hamid.lankarani@wichita.edu
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July 2006
Research Papers
Dynamics of Multibody Systems With Spherical Clearance Joints
P. Flores,
P. Flores
Departamento de Engenharia Mecânica,
e-mail: pflores@dem.uminho.pt
Universidade do Minho
, Campus de Azurém, 4800-058 Guimarães Portugal
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J. Ambrósio,
e-mail: jorge@dem.ist.utl.pt
J. Ambrósio
Instituto de Engenharia Mecânica (IDMEC)
, Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisboa Portugal
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J. C. P. Claro,
J. C. P. Claro
Departamento de Engenharia Mecânica,
e-mail: jcpclaro@dem.uminho.pt
Universidade do Minho
, Campus de Azurém, 4800-058 Guimarães Portugal
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H. M. Lankarani
H. M. Lankarani
Department of Mechanical Engineering,
e-mail: hamid.lankarani@wichita.edu
Wichita State University
, Wichita, KS 67260
Search for other works by this author on:
P. Flores
Departamento de Engenharia Mecânica,
Universidade do Minho
, Campus de Azurém, 4800-058 Guimarães Portugale-mail: pflores@dem.uminho.pt
J. Ambrósio
Instituto de Engenharia Mecânica (IDMEC)
, Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisboa Portugale-mail: jorge@dem.ist.utl.pt
J. C. P. Claro
Departamento de Engenharia Mecânica,
Universidade do Minho
, Campus de Azurém, 4800-058 Guimarães Portugale-mail: jcpclaro@dem.uminho.pt
H. M. Lankarani
Department of Mechanical Engineering,
Wichita State University
, Wichita, KS 67260e-mail: hamid.lankarani@wichita.edu
J. Comput. Nonlinear Dynam. Jul 2006, 1(3): 240-247 (8 pages)
Published Online: March 3, 2006
Article history
Received:
January 4, 2006
Revised:
March 3, 2006
Citation
Flores, P., Ambrósio, J., Claro, J. C. P., and Lankarani, H. M. (March 3, 2006). "Dynamics of Multibody Systems With Spherical Clearance Joints." ASME. J. Comput. Nonlinear Dynam. July 2006; 1(3): 240–247. https://doi.org/10.1115/1.2198877
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