A study on the dynamics of spatial mechanisms with frictional spherical clearance joints

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Authors
Marques, Filipe
Isaac, Fernando
Dourado, Nuno
Souto, Antonio Pedro
Flores, Paulo
Lankarani, Hamid M.
Advisors
Issue Date
2017-09
Type
Article
Keywords
Spherical joints with clearance , Frictional effects , Spatial mechanisms , Dynamics of multibody systems
Research Projects
Organizational Units
Journal Issue
Citation
Marques 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. J. Comput. Nonlinear Dynam. 2017;12(5):051013-051013-10
Abstract

An 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 pseudopenetration 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.

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Publisher
ASME
Journal
Book Title
Series
Journal of Computational and Nonlinear Dynamics;v.12:no.5
PubMed ID
DOI
ISSN
1555-1423
EISSN