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Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints

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Abstract

The aim of the research was to introduce a methodology for dynamic response and motion consistency research on multibody system with multiple revolute clearance joints. An improved impact force model and a modified friction force model were introduced to evaluate the effects of impact and friction in clearance joints. A planar parallel mechanism which has two clearance joints in the left wing and the right wing was also used as an example. From the results based on different conditions, clearance has slight influence on the angular displacement and angular velocity, but obvious effect on angular acceleration. And with same clearance values of left wing and right wing, the motion consistency of the parallel mechanism is very good, which means the dynamic response of two wings is almost symmetrical. When the two clearance joints have different clearance values, the motion consistency and relative error between two wings are much obvious, especially the angular acceleration.

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Authors and Affiliations

  1. College of Management Science, Chengdu University of Technology, Chengdu, 610059, China

    Bicai Xu

  2. Department of Industrial Design, **’an University of Technology, **’an, 710054, China

    Xupeng Wang, **aomin Ji & Yanmin Xue

  3. Shaanxi Engineering Laboratory for Transmissions and Controls, Northwestern Polytechnical University, **’an, 710072, China

    Ruiting Tong

Authors
  1. Bicai Xu
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  2. Xupeng Wang
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  3. **aomin Ji
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  4. Ruiting Tong
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  5. Yanmin Xue
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Corresponding author

Correspondence to Xupeng Wang.

Additional information

Recommended by Associate Editor Sungsoo Na

Bicai Xu is currently an Associate Professor and a Ph.D. candidate at Chengdu University of Technology (CUT), China. He received his M.S. also from CUT. His research interests include algebraic group theory, data mining, analysis and processing.

Xupeng Wang is a Senior Engineer at **’an University of Technology. He received his M.S. at **’an University of technology and Ph.D. at Northwestern Polytechnical University in **’an, China. His research interests include CAD/ CAE, multibody dynamics, contact mechanics, and motion capture.

**aoming Ji is a Professor and Supervisor of Ph.D. students at **’an University of Technology (XUT). He received his M.S. and Ph.D. at XUT. As a founding member, he established the Faculty of Industrial Design in XUT in 1999. His research interests include mechanical CAD/CAM, produce modeling and simulation, innovation design of electromechanical products, computer aided design.

Ruiting Tong is an Associate Professor at Northwestern Polytechnical University, China. He received his M.S. and Ph.D. at Northwestern Polytechnical University in **’an, China. His research interests include multiscale method, contact mechanics, nanoscale friction.

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Xu, B., Wang, X., Ji, X. et al. Dynamic and motion consistency analysis for a planar parallel mechanism with revolute dry clearance joints. J Mech Sci Technol 31, 3199–3209 (2017). https://doi.org/10.1007/s12206-017-0609-z

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  • DOI: https://doi.org/10.1007/s12206-017-0609-z

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