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Study of the Dynamic Performance of Mechanical Systems With Multi-Clearance Joints

[+] Author Affiliations
S. M. Megahed, A. F. Haroun

Cairo University, Giza, Egypt

Paper No. IMECE2010-37270, pp. 545-554; 10 pages
doi:10.1115/IMECE2010-37270
From:
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME

abstract

Joints’ clearance in mechanical systems such as linkage mechanisms and robots is an inevitable matter due to wear of mating parts. The presence of such clearance is a main source of impact forces resulting local deformation, wear and tear of such joints and consequently degradation of system performance. In this investigation, the effect of revolute joints’ clearance on the dynamic performance of mechanical systems is reported. The contact force between the pin (journal) and the bearing of the joint is modeled using Coulomb’s friction law, and contact force approach. This approach takes into consideration the elastic behavior of the collided bodies and the energy dissipated due to collision during the contact period. A computation algorithm is developed with the aid of SolidWorks/CosmosMotion software package. A crank-slider mechanism with one and two clearance-joints working in horizontal or vertical planes is studied. The simulation results point out that the presence of such clearance in the joints of the system understudy leads to high peaks in the characteristic curves of its dynamic and kinematic performance. The amplitudes of these peaks become higher as the number of clearance-joints included in the mechanism increases. For a multi-clearance joints mechanism, the maximum impact force at its joints takes its highest value at the nearest joint to the input link. This study also shows that, when the mechanism works in horizontal plane, the rate of impacts at each clearance-joint increases and consequently the clearance-joints and actuators will deteriorate faster. This means that working of the real mechanisms in vertical plan is more advantageous and improves their performance.

Copyright © 2010 by ASME

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