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dc.contributor.authorMarques, Filipe
dc.contributor.authorIsaac, Fernando
dc.contributor.authorDourado, Nuno
dc.contributor.authorSouto, Antonio Pedro
dc.contributor.authorFlores, Paulo
dc.contributor.authorLankarani, Hamid M.
dc.identifier.citationMarques F, Isaac F, Dourado N, Souto A, Flores P, Lankarani HM. A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints. ASME. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control ():V006T09A012en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractAn investigation on the dynamic modeling and analysis of spatial mechanisms with spherical clearance joints including friction is presented. For this purpose, the ball and the socket which compose a spherical joint are modeled as two individual colliding components. The normal contact-impact forces that develop at the spherical clearance joint are determined by using a continuous force model. A continuous analysis approach is used here with a Hertzian based contact force model, which includes a dissipative term representing. the energy dissipation during the contact process. The pseudo-penetration that occurs between the potential contact points of the ball and the socket surface, as well as the indentation rate play a crucial role in the evaluation of the normal contact forces. In addition, several different friction force models based on the Coulomb's law are revisited in this work. The friction models utilized here can accommodate the various friction regimens and phenomena that take place at the contact interface between the ball and the socket. Both the normal and tangential contact forces are evaluated and included into the systems' dynamics equation of motion, developed under the framework of multibody systems formulations. A spatial four bar mechanism, which includes a spherical joint with clearance, is used as an application example to examine and quantify the effects of various friction force models, clearance sizes, and the friction coefficients.en_US
dc.description.sponsorshipPortuguese Foundation for Science and Technology through the PhD grant (PD/BD/114154/2016). This work has been supported by the Portuguese Foundation for Science and Technology with the reference project UID/EEA/04436/2013, by FEDER funds through the COMPETE 2020 - Programa Operacional Competitividade e Internacionalizacao (POCI) with the reference project POCI-01-0145-FEDER-006941.en_US
dc.publisherAmerican Society of Mechanical Engineersen_US
dc.relation.ispartofseriesASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference;v.6
dc.subjectSpherical joints with clearanceen_US
dc.subjectFrictional effectsen_US
dc.subjectSpatial mechanismsen_US
dc.subjectDynamics of multibody systemsen_US
dc.titleA Study on the Dynamics of Spatial Mechanisms with Frictional Spherical Clearance Jointsen_US
dc.typeConference paperen_US
dc.rights.holder© 2016 by ASMEen_US

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