Revolute joints (also called pin joints or hinge joints) are used in many different mechanical systems such as robotic arms, door hinges, folding mechanisms, or hydraulic shovels. Since they transmit forces and give a rotational degree of freedom to the connected parts, revolute joints have a major impact on the dynamic behavior of the system into which they are built. Two main characteristics of these elements are their stiffness and their clearance. Both of them change as the wear between the joint’s pin and the rod hole increases during operation. In order to consider these aspects in a multibody simulation an analytical, numerically effective method has been developed to calculate the stiffness of a revolute joint in dependence of the geometry and the wear state. In addition, the calculation algorithm allows for for the analysis of the local friction energy that occurs in the contact zone. In this paper, the calculation approach is presented together with the results for two different steady loaded revolute joints.

References

References
1.
Liu
,
C.-S.
,
Zhang
,
K.
, and
Yang
,
R.
, 2007, “
The FEM Analysis and Approximate Model for Cylindrical Joints With Clearance
,”
Mech. Mach. Theory
,
42
, pp.
183
197
.
2.
Su
,
Y.
,
Chen
,
W.
,
Tong
,
Y.
, and
Xie
,
Y.
, 2010, “
Wear Prediction of Clearance Joint by Integrating Multibody Kinematics With Finite-Element Method
,”
J. Eng. Tribol.
,
224
(
8
), pp.
815
823
.
3.
Bu
,
W.
,
Liu
,
Z.
,
Tan
,
J.
, and
Gao
,
S.
, 2010, “
Detachment Avoidance of Joint Elements of a Robotic Manipulator With Clearance Based on Trajectory Planning
,”
Mech. Mach. Theory
,
45
(
6
), pp.
925
940
.
4.
Dubowsky
,
S.
and
Freudenstein
,
F.
, 1971, “
Dynamic Analysis of Mechanical Systems With Clearances—Part 1: Formulation of Dynamic Model
,”
ASME J. Eng. Ind.
,
93
(
1
), pp.
305
309
.
5.
Dubowsky
,
S.
and
Freudenstein
,
F.
, 1971, “
Dynamic Analysis of Mehanical Systems With Clearances—Part 2: Dynamic Response
,”
ASME J. Eng. Ind.
,
93
(
1
), pp.
310
316
.
6.
Flores
,
P.
and
Ambrosio
,
J.
, 2004, “
Revolute Joints With Clearance in Multibody Systems
,”
Comput. Struct.
,
82
, pp.
1359
1369
.
7.
Megahed
,
S. M.
and
Haroun
,
A. F.
, 2012, “
Analysis of the Dynamic Behavioral Performance of Mechanical Systems With Multibody Clearance Joints
,”
ASME J. Comput. Nonlinear Dyn.
,
7
, p.
011002
.
8.
Flores
,
P.
, 2009, “
Modeling and Simulation of Wear in Revolute ClearanceJoints in Multibody Systems
,”
Mech. Mach. Theory
,
44
(
6
), pp.
1211
1222
.
9.
Flores
,
P.
,
Ambrosio
,
J.
,
Claro
,
J. C. P.
,
Lankarani
,
H. M.
, and
Koshy
,
C. S.
, 2009, “
Lubricated Revolute Joints in Rigid Multibody Systems
,”
ASME J. Tribol.
,
132
, p.
031604
.
10.
Flores
P.
, 2010, “
A Parametric Study on the Dynamic Response of Planar Multibody Systems With Multiple Clearance Joints
,”
Nonlinear Dyn.
,
61
, pp.
633
653
.
11.
Schwab
,
A. L.
,
Meijaard
,
J. P.
, and
Meijers
,
P.
, 2002, “
A Comparison ofRevoluteJoint Clearance Models in the Dynamic Analysis of Rigid andElasticMechanical Systems
,”
Mech. Mach. Theory
,
37
(
9
), pp.
895
913
.
12.
Mukras
,
S.
,
Kim
,
N. H.
,
Mauntler
,
N. A.
,
Schmitz
,
T. L.
, and
Sawyer
,
W. G.
, 2010, “
Analysis of Planar Multibody Systems With Revolute Joint Wear
,”
Wear
,
268
, pp.
634
652
.
13.
Mukras
,
S.
,
Mauntler
,
A.
,
Kim
,
N. H.
,
Schmitz
,
T. L.
, and
Sawyer
,
W. G.
, 2010, “
Evaluation of Contact Force and Elastic Foundation Models for Wear Analysis of Multibody Systems
,”
Proceedings of the ASME 2010 International Design Engineering Technology Conferences, August 15-18, Montreal, Quebec, Canada, Paper No: DETC2010-28750
.
14.
Mukras
,
S.
,
Kim
,
N. H.
,
Mauntler
,
N. A.
,
Schmitz
,
T.
, 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
.
15.
Tian
,
Q.
,
Zhang
,
Y.
,
Chen
,
L.
, and
Yang
,
J.
, 2010, “
Simulation of Planar Flexible Multibody Systems With Clearance and Lubricated Revolute Joints
,”
Nonlinear Dyn.
,
60
, pp.
489
511
.
16.
Pereira
,
C. M.
,
Ramalho
,
A. R.
, and
Ambrosio
,
J. A.
, 2011, “
A Critical Overview of Internal and External Cylinder Contact Force Models
,”
Nonlinear Dyn.
,
63
, pp.
681
697
.
17.
Tripp
,
J. H.
, 1985, “
Hertzian Contact in Two and Three Dimensions
,”
NASA Tech. Paper Ser.
,
2473
, pp.
1
24
.
18.
Teutsch
,
R.
and
Sauer
,
B.
, 2004, “
An Alternative Slicing Technique to Consider Pressure Concentrations in Non-Hertzian Line Contacts
,”
ASME J. Tribol.
,
126
, pp.
436
442
.
19.
Madenci
,
E.
and
Guven
,
I.
, 2006,
The Finite Element Method and Applications in Engineering Using ANSYS
,
Springer
,
New York
.
20.
Rieg
,
F.
and
Hackenschmidt
,
R.
, 2009,
Finite Elemente Analyse für Ingenieure
,
Carl Hanser Verlag
,
München, Wien
.
21.
Betten
,
J.
, 1998,
Finite Elemente für Ingenieure 1
,
Springer
,
Berlin, Heidelberg, New York
.
22.
Kümmerle
,
T.
,
Wohlgemuth
,
M.
,
Birkhofer
,
H.
, and
Sauer
,
B.
, 2009, “
The Use of Wear for Lifetime Prolongation of Solid Lubricated Ball Bearings
,”
Proceedings of the ASME/STLE International Joint Tribology Conference, October 19-20, Memphis, Tennessee, USA
.
23.
Mang
,
T.
,
Bobzin
,
K.
, and
Bartels
,
T.
, 2011,
Industrial Tribology
,
Wiley-VCH
,
Weinheim
.
24.
Habig
,
K.-H.
, 1980,
Verschleiβ und Härte von Werkstoffen
,
Carl Hanser Verlag
,
München, Wien
.
25.
Meng
,
H. C.
and
Ludema
,
K. C.
, 1995, “
Wear Models and Predictive Equations: Their Form and Contents
,”
Wear
,
181-183
, pp.
443
457
.
26.
Bayer
,
R. G.
, and 1994,
Mechanical Wear Prediction and Prevention
,
Marcel Dekker
,
New York
.
27.
Gummer
,
A.
,
Fábián
,
Cs.
, and
Sauer
,
B.
, 2012, “
Experimental Investigation of Roller Chain Wear
,”
18th International Colloquium Tribology, 10-12 January
,
Ostfildern
,
Germany
.
You do not currently have access to this content.