Skip to main content
SpringerLink
Log in

Dynamic analysis of planar rigid-body mechanical systems with two-clearance revolute joints

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

In this paper, the behavior of planar rigid-body mechanical systems due to the dynamic interaction of multiple revolute clearance joints is numerically studied. One revolute clearance joint in a multibody mechanical system is characterized by three motions which are: the continuous contact, the free-flight, and the impact motion modes. Therefore, a mechanical system with n-number of revolute clearance joints will be characterized by 3n motions. A slider-crank mechanism is used as a demonstrative example to study the nine simultaneous motion modes at two revolute clearance joints together with their effects on the dynamic performance of the system. The normal and the frictional forces in the revolute clearance joints are respectively modeled using the Lankarani–Nikravesh contact-force and LuGre friction models. The developed computational algorithm is implemented as a MATLAB code and is found to capture the dynamic behavior of the mechanism due to the motions in the revolute clearance joints. This study has shown that clearance joints in a multibody mechanical system have a strong dynamic interaction. The motion mode in one revolute clearance joint will determine the motion mode in the other clearance joints, and this will consequently affect the dynamic behavior of the system. Therefore, in order to capture accurately the dynamic behavior of a multi-body system, all the joints in it should be modeled as clearance joints.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

References

  1. Flores, P.: Dynamic Analysis of Mechanical Systems with Imperfect Kinematic Joints. Ph.D. Dissertation, University of Minho, Guimarães (2004)

  2. Erkaya, S., Uzmay, I.: Experimental investigation of joint clearance effects on the dynamics of a slider-crank mechanism. Multibody Syst. Dyn. 24, 81–102 (2010)

    Article  MATH  Google Scholar 

  3. Erkaya, S., Uzmay, I.: Investigation on effect of joint clearance on dynamics of four-bar mechanism. Nonlinear Dyn. 58, 179–198 (2009)

    Article  MATH  Google Scholar 

  4. Megahed, S.M., Haroun, A.F.: Analysis of the dynamic behavioral performance of mechanical systems with multi-clearance joints. J. Comput. Nonlinear Dyn. 7, 1–11 (2011)

    Google Scholar 

  5. Flores, P.: A parametric study on the dynamic response of planar multibody systems with multiple clearance joints. Nonlinear Dyn. 4, 633–653 (2010)

    Article  MathSciNet  Google Scholar 

  6. Canudas de Wit, C., Olsson, H., Astrom, K.J., Lischinsky, P.: A new model for control of systems with friction. IEEE Trans. Autom. Control 40(3), 419–425 (1995)

    Article  MATH  Google Scholar 

  7. Muvengei, O., Kihiu, J., Ikua, B.: Dynamic analysis of planar multi-body systems with LuGre friction at differently located revolute clearance joints. Multibody Syst. Dyn. 28(4), 369–393 (2012)

    Article  MathSciNet  Google Scholar 

  8. Lankarani, H.M., Nikravesh, P.E.: Continuous contact force models for impact analysis in multibody systems. Nonlinear Dyn. 194–207 (1994)

  9. Schwab, A.L., Meijaard, J.P., Meijers, P.: A comparison of revolute joint clearance models in the dynamic analysis of rigid and elastic mechanical systems. Mech. Mach. Theory 37, 895–913 (2002)

    Article  MATH  Google Scholar 

  10. Flores, P., Ambrosio, J.: On the contact detection for contact-impact analysis in multibody systems. Multibody Syst. Dyn. 24, 103–122 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  11. Muvengei, O., Kihiu, J., Ikua, B.: Dynamic analysis of multi-body mechanical systems with imperfect kinematic joints: a literature survey and review. Sustain. Res. Innov. Proc. 3, 61–76 (2011)

    Google Scholar 

  12. Flores, P., Ambrosio, J.: Revolute joints with clearance in multibody systems. Comput. Struct. 82, 1359–1369 (2004)

    Article  Google Scholar 

  13. Flores, P., Ambrosio, J., Claro, J.C.P., Lankarani, H.M., Koshy, C.S.: A study on dynamics of mechanical systems including joints with clearance and lubrication. Mech. Mach. Theory 41, 247–261 (2006)

    Article  MATH  Google Scholar 

  14. Flores, P., Ambrosio, J., Claro, J.C.P., Lankarani, H.M.: Influence of the contat-impact force model on the dynamic response of multi-body systems. Proc. Inst. Mech. Eng., Proc., Part K, J. Multi-Body Dyn. 220, 21–34 (2006)

    Google Scholar 

  15. Muvengei, O., Kihiu, J., Ikua, B.: Effects of input speed on the dynamic response of planar multi-body systems with differently located frictionless revolute clearance joints. JSME Int. J., Mech. Mater. Eng. 4, 234–243 (2010)

    Google Scholar 

  16. Muvengei, O., Kihiu, J., Ikua, B.: Numerical study of parametric effects on the dynamic response of planar multi-body systems with differently located frictionless revolute clearance joints. Mech. Mach. Theory 53, 30–49 (2012)

    Article  Google Scholar 

  17. Flores, P., Koshy, C., Lankarani, H., Ambrosio, J., Claro, J.: Numerical and experimental investigation on multibody systems with revolute clearance joints. Nonlinear Dyn. 65(4), 383–398 (2011)

    Article  Google Scholar 

  18. Cheriyan, S.K.: Chracterization of Mechanical Systems with Real Joints and Flexible Links. Ph.D. Dissertation, Wichita State University, Wichita (2006)

  19. Khemili, I., Romdhane, L.: Dynamic analysis of a flexible slider-crank mechanism with clearance. Eur. J. Mech. A, Solids 27, 882–898 (2008)

    Article  MATH  Google Scholar 

  20. Ravn, P.: A continuous analysis method for planar multibody systems with joint clearance. Multibody Syst. Dyn. 2, 1–24 (1998)

    Article  MATH  Google Scholar 

  21. Ravn, P., Shivaswamy, S., Alshaer, B.J., Lankarani, H.M.: Joint clearances with lubricated long bearings in multibody mechanical systems. J. Mech. Des. 122, 484–488 (2000)

    Article  Google Scholar 

  22. Chunmei, J., Yang, Q., Ling, F., Ling, Z.: The nonlinear dynamic behavior of an elastic linkage mechanism with clearances. J. Sound Vib. 249(2), 213–226 (2002)

    Article  Google Scholar 

  23. Mukras, S., Kim, N.H., Mauntler, N.A., Schmitz, T.L., Sawyer, W.G.: Analysis of planar multibody systems with revolute joint wear. Wear 268(5–6), 643–652 (2010)

    Article  Google Scholar 

  24. Glocker, C.: Set-Valued Force Laws: Dynamics of Non Smooth Systems. Lectures Notes in Applied and Computational Mechanics. Springer, Berlin (2001)

    Book  MATH  Google Scholar 

  25. Ambrosio, J.C.: Impact of rigid and flexible multibody systems: deformation description and contact models. In: Schiehlen, E.W., Valásek, M. (eds.) Virtual Nonlinear Multibody Systems, vol. II, pp. 15–33 (2002)

    Google Scholar 

  26. Flores, P., Ambrosio, J., Claro, J.P.: Dynamic analysis for planar multibody mechanical systems with lubricated joints. Multibody Syst. Dyn. 12, 47–74 (2004)

    Article  MATH  Google Scholar 

  27. Jia, X., Jin, D., Ji, L., Zhang, J.: Investigation on the dynamic performance of the tripod-ball sliding joint with clearance in a crank-slider mechanism. Part 1. Theoretical and experimental results. J. Sound Vib. 252(5), 919–933 (2002)

    Article  Google Scholar 

  28. Bing, S., Ye, J.: Dynamic analysis of the reheat-stop-valve mechanism with revolute clearance joint in consideration of thermal effect. Mech. Mach. Theory 43(12), 1625–1638 (2008)

    Article  MATH  Google Scholar 

  29. Flores, P.: Modeling and simulation of wear in revolute clearance joints in multibody systems. Mech. Mach. Theory 44(6), 1211–1222 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  30. Flores, P., Ambrosio, J., Claro, J.C.P., Lankarani, H.M., Koshy, C.S.: Lubricated revolute joints in rigid multibody systems. Nonlinear Dyn. 56(3), 277–295 (2009)

    Article  MATH  Google Scholar 

  31. Tian, Q., Zhang, Y., Chen, L., Flores, P.: Dynamics of spatial flexible multibody systems with clearance and lubricated spherical joints. Comput. Struct. 87, 913–929 (2009)

    Article  Google Scholar 

  32. Nikravesh, P.E.: Computer-Aided Analysis of Mechanical Systems. Prentice Hall, Englewood Cliffs (1988)

    Google Scholar 

  33. Shabana, A.: A. Computational Dynamics. Wiley, New York (1994)

    Google Scholar 

  34. Baumgarte, J.: Stabilization of constraints and integrals of motion in dynamical systems. Comput. Methods Appl. Mech. Eng. 1, 1–16 (1972)

    Article  MathSciNet  MATH  Google Scholar 

  35. Kim, J.K., Chung, I.S., Lee, B.H.: Determination of the feedback coefficients for the constraint violation stabilization method. Proc. Inst. Mech. Eng., Part C, J. Mech. Eng. Sci. 204, 233–242 (1990)

    Article  Google Scholar 

Download references

Acknowledgements

This work is part of the ongoing Ph.D. research titled, “Dynamic Analysis of Flexible Multi-Body Mechanical Systems with Multiple Imperfect Kinematic Joints.” The authors gratefully acknowledge the financial and logistical support of Jomo Kenyatta University of Agriculture and Technology (JKUAT) and the German Academic Exchange Service (DAAD) in carrying out this study.

The advice of Professor Parviz Nikravesh of the University of Arizona during the development of the MATLAB code for kinematic and dynamic analysis of a general planar multi-body mechanical system is highly appreciated.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Jomo Kenyatta University of Agriculture and Technology, 62000-00200, Nairobi, Kenya

    Onesmus Muvengei, John Kihiu & Bernard Ikua

Authors
  1. Onesmus Muvengei
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. John Kihiu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Bernard Ikua
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Onesmus Muvengei.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Muvengei, O., Kihiu, J. & Ikua, B. Dynamic analysis of planar rigid-body mechanical systems with two-clearance revolute joints. Nonlinear Dyn 73, 259–273 (2013). https://doi.org/10.1007/s11071-013-0782-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-013-0782-2

Keywords

Search

Navigation