The Dynamic Simulation of Planar Linkage with Revolute Joint Clearance Based on Vector Bond Graph
نویسندگان
چکیده
For improving the reliability and efficiency of the dynamic modelling and simulation of planar linkage with revolute joint clearances, the corresponding vector bond graph procedure is proposed. Based on the kinematic relations, the vector bond graph model of a rigid body undergoing planar motion is built. Besides this, the vector bond graph model of revolute joint clearance is made based on continuous contact model, in which a pin is assumed always in contact with a socket in each pair and the revolute joint clearance can be considered as a massless imaginary link with a constant length. For the difficulties brought by differential causality in the system automatic modeling and simulation, the effective bond graph augument method is proposed. As a result, the automatic modelling and simulation of an electromechanical coupling system with revolute joint clearance on a computer is realized by corresponding algorithm, its validity is illustrated by a practical example. Copyright © 2014 IFSA Publishing, S. L.
منابع مشابه
Dynamic Behavior Analysis of a Planar Four-bar Linkage with Multiple Clearances Joint
In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...
متن کاملNonlinear dynamic analysis of a four-bar mechanism having revolute joint with clearance
In general, joints are assumed without clearance in the dynamic analysis of multi-body echanical systems. When joint clearance is considered, the mechanism obtains two uncontrollable degrees of freedom and hence the dynamic response considerably changes. The joints’ clearances are the main sources of vibrations and noise due to the impact of the coupling parts in the joints. Therefore, the syst...
متن کاملConsistent bond graph modelling of planar multibody systems
Modelling of mechanisms is not a trivial task because the goal is not only to obtain consistent kinematics but also to get proper dynamic loads. Therefore, a modular modelling approach is preferred for large and complex mechanisms. This paper discusses modular bond graph modelling of planar mechanical systems composed of rigid bodies, which are constrained together through a set of joints. Bond...
متن کاملRevolute joints with clearance in multibody systems
A computational methodology for dynamic analysis of multibody mechanical systems with joint clearance is presented in this work. Clearances always exist in real joints in order to ensure the correct relative motion between the connected bodies being the gap associated to them a result of machining tolerance, wear, and local deformations. Clearance at different joints is the source for impact fo...
متن کاملDynamic Analysis for Planar Multibody Mechanical Systems with Lubricated Joints
The dynamic analysis of planar multibody systems with revolute clearance joints, including dry contact and lubrication effects is presented here. The clearances are always present in the kinematic joints. They are known to be the sources for impact forces, which ultimately result in wear and tear of the joints. A joint with clearance is included in the multibody system much like a revolute join...
متن کامل