Local-Coordinate Representation for Spatial Revolute Clearance Joints Based on a Vector-Form Particle-Element Method

Abstract

Previously, the contact states between the bearing and journal of a spatial revolute joint (SRJ) with both axial and radial clearances were solved in the global coordinate system (GCS), which is complex and requires iterations. In this paper, a local-coordinate representation for the SRJs with clearance is combined with a vector-form particle-element method, i.e. finite particle method (FPM), to provide a more practical means for evaluation of the dynamic effects due to clearance. Firstly, the fundamentals of the FPM for analysis of spatial mechanisms are briefed. Then, a local-coordinate representation based on the revolution axis of the bearing is proposed. Specifically, the geometry of the journal and bearing is explicitly expressed using the coordinate transformation. The axial and radial contact states are evaluated by substituting the parametric equations and transforming them to quadratic and quartic equations, respectively, which can be analytically solved without iterations. The contact forces are evaluated in the local-coordinate representation and then transformed into the GCS representation. Two numerical examples, i.e. a spatial slider-crank mechanism and a spatial double pendulum, are provided to demonstrate the feasibility of the proposed method, by which the effects of joint-joint interaction and joint-flexible component interaction are fully discussed.