This paper focuses on the dynamic responses of a planar mechanism with multiple clearance joints. The effect of the impact between the journal and the bearing in the clearance joint is described using an improved impact force model, and a typical four-bar linkage mechanism with multiple clearance joints is presented as an example. Two conditions are considered in this research, one is the single clearance joint with different position, and the other is multiple clearance joints. From a large number of numerical results, some important conclusions are obtained as follows: (1) with the influence of the clearance joint, the dynamic output of system has obvious vibration in comparison to the ideal value. (2) The position of the clearance joint has a clear effect on the response of system; the larger the distance of the clearance joint from the drive motor, the smaller its influence on the output of the system. (3) With the increase in the clearance joint number, the dynamic stability of the multibody system is decreased gradually, and the dynamic characteristic of the system also appears as obvious nonlinear phenomenon. (4) The coupling phenomenon appears when multiple clearance joints in the multibody system are considered, which should be examined seriously during the process of design and numerical analysis.
FloresPAmbrósioJ. Revolute joints with clearance in multibody systems. Comput Struct2004; 82: 1359–1369.
2.
MachadoMMoreiraPFloresPet al.Compliant contact force models in multibody dynamics: evolution of the Hertz contact theory. Mech Mach Theory2012; 53: 99–121.
3.
ErkayaSUzmayI. Experimental investigation of joint clearance effects on the dynamics of a slider-crank mechanism. Multibody Syst Dyn2010; 24: 81–102.
4.
YaqubiSDardelMDanialiHMet al.Modeling and control of crank-slider mechanism with multiple clearance joints. Multibody Syst Dyn2016; 36: 143–167.
5.
FloresP. A parametric study on the dynamic response of planar multibody systems with multiple clearance joints. Nonlin Dyn2010; 61: 633–653.
6.
AlvesJPeixinhoNSilvaMTet al.A comparative study of the viscoelastic constitutive models for frictionless contact interfaces in solids. Mech Mach Theory2015; 85: 172–188.
7.
LiYWangZWangCet al.Effects of torque spring, CCL and latch mechanism on dynamic response of planar solar arrays with multiple clearance joints. Acta Astronaut2017; 132: 243–255.
8.
SalahshoorEEbrahimiSMaasoomiM. Nonlinear vibration analysis of mechanical systems with multiple joint clearances using the method of multiple scales. Mech Mach Theory2016; 105: 495–509.
9.
MuvengeiOKihiuJIkuaB. Dynamic analysis of planar rigid-body mechanical systems with two-clearance revolute joints. Nonlin Dyn2013; 73: 259–273.
10.
TanHHuYLiL. A continuous analysis method of planar rigid-body mechanical systems with two revolute clearance joints. Multibody Syst Dyn2017; 40: 347–373.
11.
MarquesFIsaacFDouradoNet al.An enhanced formulation to model spatial revolute joints with radial and axial clearances. Mech Machine Theory2017; 116: 123–144.
12.
FloresPKoshyCSLankaraniHM. Numerical and experimental investigation on multibody systems with revolute clearance joints. Nonlin Dyn2011; 65: 383–398.
13.
FloresPLankaraniHM. Dynamic response of multibody systems with multiple clearance joints. J Comput Nonlin Dyn2012; 7: 636–673.
14.
FloresPAmbrósioJ. On the contact detection for contact-impact analysis in multibody systems. J Multi-body Dyn2010; 24: 103–122.
15.
XuBCWangXPJiXMet al.Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints. J Mech Sci Technol2017; 31: 3199–3209.
16.
WangXPLiuGMaSJet al.Effects of restitution coefficient and material characteristics on dynamic response of planar multi-body systems with revolute clearance joint. J Mech Sci Technol2017; 31: 587–597.
17.
WangXPLiuGMaSJ. Dynamic analysis of planar mechanical systems with clearance joints using a new nonlinear contact force model. J Mech Sci Technol2016; 30: 1537–1545.
18.
LiYChenGSunDet al.Dynamic analysis and optimization design of a planar slider-crank mechanism with flexible components and two clearance joints. Mech Mach Theory2016; 99: 37–57.
19.
ErkayaSUzmayI. Modeling and simulation of joint clearance effects on mechanisms having rigid and flexible links. J Mech Sci Technol2014; 28: 2979–2986.
20.
ZhangXCZhangXMChenZ. Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints. Mech Mach Theory2014; 78: 105–115.
21.
YangLXZhangXMHuangYJ. Dynamic analysis of open loop mechanisms with multiple spatial clearance joints. Proc IMechE, Part C: J Mechanical Engineering Science2018. DOI:10.1177/0954406218757810. .
22.
MaJQianLChenandGet al.Dynamic analysis of mechanical systems with planar revolute joints with clearance. Mech Mach Theory2015; 94: 148–164.
23.
ErkayaSDoganSUlusS. Effects of joint clearance on the dynamics of a partly compliant mechanism: numerical and experimental studies. Mech Mach Theory2015; 88: 125–140.
24.
ZhangXHZhangXM. Minimizing the influence of revolute joint clearance using the planar redundantly actuated mechanism. Robot Comput-Integr Manuf2017; 46: 104–113.
25.
ZhangXCZhangXM. A comparative study of planar 3-RRR and 4-RRR mechanisms with joint clearances. Robot Comput-Integr Manuf2016; 40: 24–33.
26.
ZhaoBCuiYXieYBet al.Dynamics and lubrication analyses of a planar multibody system with multiple lubricated joints. Proc IMechE, Part J: J Engineering Tribology2018; 232: 326–346.
27.
TianQZhangYQChenLPet al.Simulation of planar flexible multibody systems with clearance and lubricated revolute joints. Nonlin Dyn2010; 60: 489–511.
28.
HertzH. Über dies Berührung fester elasticher Körper. J Reine Angew Math1881; 92: 156–171.
29.
LiuCSZhangKYangR. The compliance contact model of cylindrical joints with clearance. Acta Mech Sin2005; 21: 451–458.
30.
HuntKHCrossleyFRE. Coefficient of restitution interpreted as damping in vibroimpact. J Appl Mech1975; 7: 440–445.
31.
LankaraniHMNikraveshPE. A contact force model with hysteresis damping for impact analysis of multi-body systems. J Mech Des1990; 112: 368–376.
32.
GonthierYMcPheeJLangeCet al.A regularized contact model with asymmetric damping and dwell-time dependent friction. Multibody Syst Dyn2004; 11: 209–233.
33.
QinZYLuQS. Analysis of impact process based on restitution coefficient. J Dyn Control2006; 4: 294–298.
34.
FloresPMachadoMSilvaMTet al.On the continuous contact force models for soft materials in multibody dynamics. Multibody Syst Dyn2011; 25: 357–375.
35.
BaiZFZhaoY. A hybrid contact force model of revolute joint with clearance for planar mechanical systems. Int J Nonlin Mech2013; 48: 15–36.
36.
ZhangYNInnaS. Validation of nonlinear viscoelastic contact force models for low speed impact. J Appl Mech2009; 76: 911–914. .
37.
WangXPLiuG. Modeling and simulation of revolute joint with clearance in planar multi-body systems. J Mech Sci Technol2015; 29: 4113–4120.
38.
MDI. Building models in ADAMS/View, software handbook, 2012.
39.
BaiZFSunY. A study on dynamics of planar multibody mechanical systems with multiple revolute clearance joints. Eur J Mech A/Solids2016; 60: 95–111. .
