Nonlinear Dynamics and Control of Crank-Slider Mechanism with Multiple Clearance Joints

Authors

1 Babol Noshirvani University of Technology

2 Babol Noshirvani University of Technolgoy

Abstract

In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing number of clearance joints have been addressed. From comparisons between responses of crank-slider mechanism with a single clearance joint and multiple clearance joints, it is concluded that perturbations intensify as the number of clearance joints in mechanism increases. Nonlinear dynamics of system are analyzed, using Poincare maps and bifurcation diagrams. Effects of joint friction on the response of the mechanism are investigated. Subsequently, a control scheme for providing continuous contact in clearance joints and maintaining a more stable mechanism is pro-posed. Obtained results demonstrate the effectiveness of proposed control method on reducing effect's of clearance and maintaining continuous contact in clearance joint

Keywords

Main Subjects


1. S. W. Earles, C .L. S. Wu,  Motion analysis of a rigid link mechanism with clearance at a bearing using Lagrangian mechanics and digital computation,  Mechanisms, (1973) 83–89.

2. Erkayaa, and İ. Uzmay, Experimental Investigation of Joint Clearance Effects, Multibody System Dynamics, 24 (2010) 81-102.

3. M. Dupac, and D. G. Beale, Dynamic Analysis of a Flexible Linkage Mechanism with Cracks and Clearance, Mechanism and Machine Theory, 45 (2010) 1909–1923.

4. S. Dubowsky, On predicting the dynamic effects of clearances in planar mechanisms, Journal of Engineering for Industry, (1974) 317–323.

5. H. Hertz, Über die Berührung fester elastischer Körper, Journal reine und angewandte,  Mathematik, (1881) 92.

6. H. M Lankarani, P. E. Nikravesh,  A contact force model with hysteresis damping for im-pact analysis of multibody systems, Journal of Mechanical Design 376 (1990)112, 369.

7. C.S. Koshy, P. Flores, and H.M. Lankarani, Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints: computational and experimental approaches, Nonlinear Dynamics,  73 (2013) 325–338.

8. Houfek, L. Houfek, Bifurcation And Chaos In Couplings With Clearance, Advanced Materials Research, 936 (2014) 2120-2124.

9. J. A. C. Ambrósio,  Impact of Rigid and Flexible Multibody Systems: Deformation De-scription and Contact Models, Virtual Nonlinear Multibody Systems, (2002) 15-33.

10. A. A. Olyaei, M. R. Ghazavi, Stabilizing slider-crank mechanism with clearance joints, Mechanism and Machine Theory 53, (2012)17-29

11. Y.S. Yoon, J.S. Shim, S.B. Lee, K. D. Willmert, Reduction of the joint clearance effect for a planar flexible mechanism, Journal of Mechanical Science and Technology 9, (1995) 312–322.

12. P. Flores, and H. M. Lankarani, Dynamic Response of Multibody Systems with Multiple Clearance Joints, Journal of Computational and Nonlinear Dynamics, 7(3) (2012) 031003-13.

13. L. Cheng, T. Qiang, and H. Haiyan, Dynamics and Control of a Spatial Rigid-Flexible Multibody System with Multiple Cylindrical Clearance Joints, Mechanism and Machine Theory, 52 (2012) 106-129.