Abstract
The dynamic response of mechanisms and machines affected by revolute joint clearance is studied in this article. Critical in the precise prediction of the peak values of forces is the contact model being used. A comparison is made between several continuous contact force models and an impact model. The mechanical system is modelled with rigid or elastic bodies. For the impact model a procedure is presented to estimate the maximum contact force during impact. It is shown how the compliance of the links or lubrication of the joint smooths the peak values of the contact forces.
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