Abstract
The dynamic behavior of flexible linkages with lubricated revolute joints is investigated, with consideration of elastic deformation, bearing clearances and hydrodynamic lubrication. An inertial frame based approach to elastic linkage dynamics yields equations of motion in a form amenable to finite element formulations. Non-linear stiffness and damping characteristics are used to obtain impact forces at revolute joints. Pressure caused by hydrodynamic lubrication is calculated by using a finite difference method. Illustrative examples are shown to compare vibratory behaviors of idealized, clearanced, squeeze film lubricated and hydrodynamically lubricated flexible linkages.
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