Abstract
This paper presents the techniques of contact modeling for revolute joints in flexible multibody systems, in which the dry clearance revolute joints have been coupled with the flexibility of connected bodies. The contact model for revolute joints takes into account the relative planar motion caused by the clearance between the outer and inner races. This model applies a penalty method to simulate the phenomenon of inner-penetration between contact/impact bodies. The relationship between the normal contact force and the inner-penetration is described by the nonlinear Hertz model with energy dissipation. Meanwhile, the friction force can be predicted from continuous Coulomb's law. Finally, an example of flexible multibody systems has been simulated by using the developed contact models.
Highlights
Engineering practices show that the clearances in the revolute joints are inevitable to allow for the assembly of the pair elements
A typical problem is the slider-crank mechanism, in which only the radial clearance located in the planar revolute joint is considered[9]
Since rigid modeling of the links will affect the prediction of the system real dynamic behaviour, the modelling of mechanism flexibility is required
Summary
Engineering practices show that the clearances in the revolute joints are inevitable to allow for the assembly of the pair elements. A comprehensive review can be found in Ref.[10], where the commercial software MSC ADAMS was applied to simulate the crank-slider mechanism with rigid/flexible links and planar joint clearances. Ref.[13] predicts the dynamic behaviour of slider-crank mechanism with single and two revolute clearance joints. When the bodies are in contact/impact, the friction force can be predicted from the continuous Coulomb's law. It is known the Coulomb's friction law[19] describes the transitions from sticking to sliding and vice-versa, but these discrete transitions can cause difficulties for their numerical simulations. This paper focuses on studying the coupling effect of joint clearances and link flexibilities of the complicated mechanism, and designs a detailed contact model for revolute joint with clearance. The continuous Coulomb's law are implemented for the simulation of friction phenomena
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