In this paper, the dynamic response of a spatial four-bar mechanism with a spherical clearance joint with flexible socket is investigated. Previous research treats the socket as a whole rigid part and neglects the flexibility of the socket. In order to better describe the influence of the spherical clearance joint, a rigid-flexible coupling model of a four-bar mechanism is established, in which the socket of the spherical clearance joint is treated as flexible body. The dynamic responses of this spatial mechanism are discussed for the mechanism with a flexible socket and the case with traditional rigid socket. Furthermore, the effects of clearance size and driving speed are also separately discussed. The results demonstrated that the dynamic response of mechanism is affected by the clearance joint. The socket flexibility can relieve the undesired effects of the clearance on the responses of the mechanism with clearance. The flexible socket acts as a suspension for the mechanism with clearance joint.

References

References
1.
Farahanchi
,
F.
, and
Shaw
,
S. W.
,
1994
, “
Chaotic and Periodic Dynamics of a Slider-Crank Mechanism With Slider Clearance
,”
J. Sound Vib
,
177
(
3
), pp.
307
324
.
2.
Ravn
,
P.
,
1998
, “
A Continuous Analysis Method for Planar Multibody Systems With Joint Clearance
,”
Multibody Syst. Dyn
,
2
(1), pp.
1
24
.
3.
Flores
,
P.
, and
Ambrosio
,
J.
,
2004
, “
Revolute Joints With Clearance in Multibody Systems
,”
Comput. Struct.
,
82
(17–19), pp.
1359
1369
.
4.
Flores
,
P.
,
Ambrósio
,
J.
,
Claro
,
J. C. P.
, and
Lankarani
,
H. M.
,
2006
, “
Influence of the Contact-Impact Force Model on the Dynamic Response of the Multibody Systems
,”
J. Multi-Body Dyn.
,
220
(1), pp.
21
34
.
5.
Flores
,
P.
,
Ambrósio
,
J.
, and
Claro
,
J. C. P.
,
2004
, “
Dynamic Analysis for Planar Multibody Mechanical Systems With Lubricated Joints
,”
Multibody Syst. Dyn.
,
12
, pp.
47
74
.
6.
Flores
,
P.
,
2010
, “
A Parametric Study on the Dynamic Response of Planar Multibody Systems With Multiple Clearance Joints
,”
Nonlinear Dyn.
,
61
(4), pp.
633
653
.
7.
Muvengei
,
O.
,
Kihiu
,
J.
, and
Ikua
,
B.
,
2012
, “
Numerical Study of Parametric Effects on the Dynamic Response of Planar Multi-Body Systems With Differently Located Frictionless Revolute Clearance Joints
,”
Mech. Mach. Theory
,
53
, pp.
30
49
.
8.
Megahed
,
S. M.
, and
Haroun
,
A. F.
,
2012
, “
Analysis of the Dynamic Behavioral Performance of Mechanical Systems With Multi-Clearance Joints
,”
ASME J. Comput. Nonlinear Dyn.
,
7
(1), p. 011002.
9.
Gummer
,
A.
, and
Sauer
,
B.
,
2014
, “
Modeling Planar Slider–Crank Mechanisms With Clearance Joints in RecurDyn
,”
Multibody Syst Dyn.
,
31
(2), pp.
127
145
.
10.
Bai
,
Z. F.
, and
Zhao
,
Y.
,
2012
, “
Dynamic Behavior Analysis of Planar Mechanical System With Clearance Joints Using a New Hybrid Contact Force Model
,”
Int. J. Mech. Sci.
,
54
(1), pp.
190
205
.
11.
Zhang
,
J.
,
Guo
,
H. W.
,
Liu
,
R. Q.
, and
Deng
,
Z. Q.
,
2015
, “
Nonlinear Characteristic of Spherical Joints With Clearance
,”
J. Aerosp. Technol. Manage.
,
7
(
2
), pp.
179
184
.
12.
Alves
,
J.
,
Peixinho
,
N.
,
Silva
,
M. T.
,
Flores
,
P.
, and
Lankarani
,
H. M.
,
2015
, “
A Comparative Study of the Viscoelastic Constitutive Models for Frictionless Contact Interfaces in Solids
,”
Mech. Mach. Theory
,
85
, pp.
172
188
.
13.
Muvengei
,
O.
,
Kihiu
,
J.
, and
Ikua
,
B.
,
2013
, “
Dynamic Analysis of Planar Rigid-Body Mechanical Systems With Two-Clearance Revolute Joints
,”
Nonlinear Dyn.
,
73
(1–2), pp.
259
273
.
14.
Brutti, C., Coglitore, G., and
Valentini
,
P. P.
,
2011
, “
Modeling 3D Revolute Joint With Clearance and Contact Stiffness
,”
Nonlinear Dyn.
,
66
(4), pp.
531
548
.
15.
Yan
,
S. Z.
,
Xiang
,
W.
, and
Zhang
,
L.
,
2015
, “
A Comprehensive Model for 3D Revolute Joints With Clearances in Mechanical Systems
,”
Nonlinear Dyn.
,
80
(1–2), pp.
309
328
.
16.
Erkaya
,
S.
, and
Uzmay
,
I.
,
2009
, “
Investigation on Effect of Joint Clearance on Dynamics of Four-bar Mechanism
,”
Nonlinear Dyn
,
58
, pp.
179
198
.
17.
Erkaya
,
S.
,
2017
, “
Effects of Joint Clearance on Motion Accuracy of Robotic Manipulators
,”
J. Mech. Eng.
, in press. http://www.sv-jme.eu/article/effects-of-joint-clearance-on-motion-accuracy-of-robotic-manipulators/
18.
Liu
,
T. S.
, and
Lin
,
Y. S.
,
1990
, “
Dynamic Analysis of Flexible Linkages With Lubricated Joints
,”
J. Sound Vib.
,
144
(
2
), pp.
193
205
.
19.
Schwab
,
A. L.
,
Meijaard
,
J. P.
, and
Meijers
,
P.
,
2002
, “
A Comparison of Revolute Clearance Models in the Dynamic Analysis of Rigid and Elastic Mechanical Systems
,”
Mech. Mach. Theory
,
37
(9), pp.
895
913
.
20.
Khemili
,
I.
, and
Romdhane
,
L.
,
2008
, “
Dynamic Analysis of a Flexible Slider–Crank Mechanism With Clearance
,”
Eur. J. Mech. Solids
,
27
(5), pp.
882
898
.
21.
Dupac
,
M.
, and
Beale
,
D. G.
,
2010
, “
Dynamic Analysis of a Flexible Linkage Mechanism With Cracks and Clearance
,”
Mech. Mach. Theory
,
45
(12), pp.
1909
1923
.
22.
Tian
,
Q.
,
Zhang
,
Y. Q.
,
Chen
,
L. P.
, and
Yang
,
J.
,
2010
, “
Simulation of Planar Flexible Multibody Systems With Clearance and Lubricated Revolute Joints
,”
Nonlinear Dyn.
,
60
(4), pp.
489
511
.
23.
Tian
,
Q.
,
Liu
,
C.
,
Machado
,
M.
, and
Flores
,
P.
,
2011
, “
A New Model for Dry and Lubricated Cylindrical Joints With Clearance in Spatial Flexible Multibody Systems
,”
Nonlinear Dyn.
,
64
(1–2), pp.
25
47
.
24.
Wang
,
G.
, and
Liu
,
H.
,
2017
, “
Dynamic Analysis and Wear Prediction of Planar Five-Bar Mechanism Considering Multiflexible Links and Multiclearance Joints
,”
ASME J. Tribol.
,
139
(
5
), p.
051606
.
25.
Erkaya
,
S.
, and
Uzmay
,
I.
,
2014
, “
Modeling and Simulation of Joint Clearance Effects on Mechanisms Having Rigid and Flexible Links
,”
J. Mech. Sci. Technol.
,
28
(
8
), pp.
2979
2986
.
26.
Bauchau
,
J.
, and
Rodriguez
,
2002
, “
Modeling of Joints With Clearance in Flexible Multibody Systems
,”
Int. J. Solid Struct.
,
39
(1), pp.
41
63
.
27.
Flores
,
P.
,
Ambrósio
,
J.
,
Claro
,
J. C. P.
, and
Lankarani
,
H. M.
,
2006
, “
Dynamics of Multibody Systems With Spherical Clearance Joints
,”
ASME J. Comput. Nonlinear Dyn.
,
1
(
3
), pp.
240
247
.
28.
Flores
,
P.
, and
Lankarani
,
H. M.
,
2010
, “
Spatial Rigid-Multibody Systems With Lubricated Spherical Clearance Joints: Modeling and Simulation
,”
Nonlinear Dyn.
,
60
(1–2), pp.
99
114
.
29.
Tian
,
Q.
,
Zhang
,
Y. Q.
,
Chen
,
L. P.
, and
Flores
,
P.
,
2009
, “
Dynamics of Spatial Flexible Multibody Systems With Clearance and Lubricated Spherical Joints
,”
Comput. Struct.
,
87
(13–14), pp.
913
929
.
30.
Wang, G. X., Liu, H. Z., Deng, P. S., Yin, K. M., and Zhang, G. G., 2017, “Dynamic Analysis of 4-SPS/CU Parallel Mechanism Considering Three-Dimensional Wear of Spherical Joint With Clearance,”
ASME J. Tribol.
, 139(2), p. 021608.
31.
Zheng
,
E.
,
Zhu
,
L. R.
,
Zhu
,
S. H.
, and
Lu
,
X. J.
,
2016
, “
A Study on Dynamics of Flexible Multi-Link Mechanism Including Joints With Clearance and Lubrication for Ultra-Precision Presses
,”
Nonlinear Dyn.
,
83
(1–2), pp.
137
159
.
32.
Tian
,
Q.
,
Sun
,
Y. L.
,
Liu
,
C.
,
Hu
,
H. Y.
, and
Flores
,
P.
,
2013
, “
Elastohydrodynamic Lubricated Cylindrical Joints for Rigid-Flexible Multibody Dynamics
,”
Comput. Struct.
,
114–115
, pp.
106
120
.
33.
Marques
,
F.
,
Isaac
,
F.
,
Dourado
,
N.
,
Souto
,
A. P.
,
Flores
,
P.
, and
Lankarani
,
H. M.
,
2017
, “
A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
,”
ASME J. Comput. Nonlinear Dyn.
,
12
(
5
), p.
051013
.
34.
Erkaya
,
S.
,
Dogan
,
S.
, and
Sefkalloglu
,
E.
,
2016
, “
Analysis of the Joint Clearance Effects on a Compliant Spatial Mechanism
,”
Mech. Mach. Theory
,
104
, pp.
255
273
.
35.
Wang
,
G.
,
Liu
,
H.
, and
Deng
,
P.
,
2015
, “
Dynamics Analysis of Spatial Multibody System With Spherical Joint Wear
,”
ASME J. Tribol.
,
137
(
2
), p. 021605.
36.
Mukras
,
S.
,
Kim
,
N. H.
,
Mauntler
,
N. A.
,
Schmitz
,
T. L.
, and
Sawyer
,
W. G.
,
2010
, “
Comparison Between Elastic Foundation and Contact Force Models in Wear Analysis of Planar Multibody System
,”
ASME J. Tribol.
,
132
(
3
), p. 031604.
37.
Su, Y., Chen, W., Tong, Y., and Xie, Y.,
2010
, “
Wear Prediction of Clearance Joint by Integrating Multi-Body Kinematics With Finite-Element Method
,”
Proc IMechE, Part J.: J. Eng. Tribol.
,
224
(8), pp.
815
823
.
38.
Zhao
,
B.
,
Zhang
,
Z. N.
, and
Dai
,
X. D.
,
2014
, “
Modeling and Prediction of Wear at Revolute Clearance Joints in Flexible Multibody Systems
,”
Proc IMechE Part C: J. Mech. Eng. Sci.
,
228
(
2
), pp.
317
329
.
39.
Zhao
,
B.
,
Dai
,
X. D.
,
Zhang
,
Z. N.
,
Wu
,
S. H.
, and
Xie
,
Y. B.
,
2014
, “
Numerical Study of Parametric Effects on Joint Wear in the Flexible Multibody Systems With Different Flexibilities and Clearance Sizes
,”
Proc IMechE Part J.: J. Eng. Tribol.
,
228
(
8
), pp.
819
835
.
40.
Askari
,
E.
,
Flores
,
P.
,
Dabirrahmani
,
D.
, and
Appleyard
,
R.
,
2014
, “
Nonlinear Vibration and Dynamics of Ceramic on Ceramic Artificial Hip Joints: A Spatial Multibody Modelling
,”
Nonlinear Dyn.
,
76
(
2
), pp.
1365
1377
.
41.
Tian
,
Q.
,
Lou
,
J.
, and
Mikkola
,
A.
,
2017
, “
A New Elastohydrodynamic Lubricated Spherical Joint Model for Rigid-Flexible Multibody Dynamics
,”
Mech. Mach. Theory
,
107
, pp.
210
228
.
42.
Hunt
,
K. H.
, and
Crossley
,
F. R. E.
,
1975
, “
Coefficient of Restitution Interpreted as Damping in Vibroimpact
,”
ASME Int. J. Appl. Mech.
,
42
(2), pp.
440
445
.
43.
Lankarani
,
H. M.
, and
Nikravesh
,
P. E.
,
1990
, “
A Contact Force Model With Hysteresis Damping for Impact Analysis of Multibody Systems
,”
ASME J. Mech. Des.
,
112
(3), pp.
369
376
.
44.
Flores
,
P.
,
Ambrósio
,
J.
,
Claro
,
J. C. P.
,
Lankarani
,
H. M.
, and
Koshy
,
C. S.
,
2006
, “
A Study on Dynamics of Mechanical Systems Including Joints With Clearance and Lubrication
,”
Mech. Mach. Theory
,
41
(3), pp.
247
261
.
45.
Erkaya, S., and Uzmay, I., 2010, “Experimental Investigation of Joint Clearance Effects on the Dynamics of a Slider-Crank Mechanisms,”
Multibody Syst. Dyn.
, 24(1), pp. 81–102.
46.
Olyaei
,
A. A.
, and
Ghazavi
,
M. R.
,
2012
, “
Stabilizing Slider-Crank Mechanism With Clearance Joints
,”
Mech. Mach. Theory
, 53, pp. 17–29.
You do not currently have access to this content.