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www.springerlink.com/content/1738-494x(Print)/1976-3824(Online)
DOI 10.1007/s12206-017-0111-7
(Manuscript Received April 29, 2016; Revised August 25, 2016; Accepted October 8, 2016)
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Abstract
To study the effects of restitution coefficient and material parameters on the dynamic characteristics of planar multi-body systems with
revolute clearance joints, a comprehensive methodology for clearance revolute joints in a planar multibody system is presented and ana-
lyzed. A new nonlinear contact force model, which accounts for the axial length of bearing and has a wide suitable range of impact situa-
tion, is presented to evaluate the contact force between journal and bearing. Furthermore, a modified Coulomb friction force model also
presented to consider the effect of friction in clearance joint. Then, a typical journal-bearing model and a planar slider-crank mechanism
has revolute clearance joint are used as examples. From the main numerical results under the different restitution coefficient and material
parameters, it can be concluded that coefficient of restitution has significant effects on dynamic response of multi-body systems with
revolute clearance joint. Additionally, materials of journal and bearing with smaller Youngs modulus will cause obvious delay on dy-
namic response of multi-body systems.
Keywords: Revolute clearance joint; Contact force model; Restitution coefficient; Material dimensions; Multi-body system dynamics
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Liu et al. [15] presented a new contact force model, and the
model was verified by the finite element analysis results. Bai Fig. 2. Revolute clearance joint with contact.
et al. [16, 17] extended the Lankarani-Nikravesh model and
the improved Winkler elastic foundation model, then intro-
duced a new hybrid contact model for revolute clearance joint. c = RB - RJ , (1)
Wang and Liu [18-20] also set up three different contact force
models, which are suitable for different conditions, and their where RB and RJ are the radii of bearing and journal.
model presented in Ref. [20] appears to have a wide range of Fig. 2 shows a clearance journal-bearing joint with contact
impact situation, especially with low coefficient of restitution. in a multibody system. Points OB and OJ indicate the centers
Ma et al. [21] extended the Lankarani-Nikravesh model and of bearing and journal, RBO and RJO represent the positional
elastic foundation model, and presented a hybrid contact force vectors of the bearing and journal in the globe inertia coordi-
model, which is more effective than Lankarani-Nikravesh nate XOY, respectively. The eccentricity vector e can be writ-
model for the situations of small clearance and low restitution ten as
coefficient. Based on Hertz contact law, Hu and Guo [22]
presented a new dissipative contact force model that is valid e = RBo - RJo . (2)
for soft and hard contact problems.
It is well known that the coefficient of restitution is depend- The value of e is calculated as
ent on the parameters of the material. But in fact, different
heat and surface treatment can cause changes about the sur- e = ex2 + ey2 . (3)
face characteristics of materials, and then affect the restitution
coefficient of impact. So our main aim was to reveal the influ- The indentation between contact face of the journal and the
ence of restitution coefficient and material parameters on the bearing can be written as
dynamics response of mechanism with clearance joint. For
this purpose, a new impact force model and an improved Cou- d = e - ( RB - RJ ) . (4)
lomb friction force are presented in Sec. 2; then in Sec. 3,
numerical simulations are shown and discussed based on a The relative impact velocity vector between journal and
typical journal-bearing clearance joint model, and a planar bearing are evaluated as [5]
slider-crank mechanism which has a clearance joint in con-
necting rob and slider. In Sec. 4, we will draw the conclusions
(
d rBO - RJO )n+
of this paper. n=
dt
(r O
B - RJO ) (w B - wJ ) t , (5)
1800
Improved model L=10mm
0.3 L-N model 1600 L=15mm
L=30mm
Indentation velocity v(m/s)
1200
0.1
Force [N]
1000
0
800
-0.1 600
400
-0.2
200
-0.3
0
0 0.5 1 1.5 2 2.5 3 3.5 0 1 2 3 4 5
Indentation (m) Indentation[m]
0.2 0.2
0.1
Velocity[m/s]
0.1
L=10mm
L=15mm
0 0 L=30mm
L=40mm
-0.1 -0.1
-0.2
-0.2
-0.3
-0.3
0 0.5 1 1.5 2 2.5 3 3.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Indentation (m) Indentation[m]
mass of crank, connecting rod, and slider is 0.194 kg, 1.062 kg &&
xG3 - cosq 2 2 - sin q 2
and 0.281 kg, respectively. The inertia property of the con- && = L2 w2 + L2 a2
yG3 - sin q 2 cosq 2
necting rob is 0.034 kgm2. Youngs modulus of steel, ductile (15)
- cosq3 2 - sin q3
iron, copper and aluminum is 207 GPa, 173 GPa, 106 GPa + AG3 w3 + AG3 a3
and 69 GPa, respectively. Poisson's ratio of the corresponding - sin q 3 cosq3
materials is 0.3, 0.3, 0.324 and 0.33. The dynamic simulation
parameters are listed in Table 1.
The vector representation and the impact forces defined as a Table 1. Parameters used in the dynamic simulations.
function of the input link position, which are shown in Figs.
Parameter Value
9(a) and (b), respectively.
According to Fig. 9, the positions and accelerations of the Coefficient of friction 0.01
mass centers for crank and connecting rod are written as Critical velocities of static friction vs 0.1 mm/s [23]
Critical velocities of dynamic friction vd 10 mm/s [23]
1400
cr=1 0.3
cr=0.9
1200
cr=0.7
cr=0.5 0.2
1000 Cr=0.9
Cr=0.7
Velocity [m/s]
0.1
Cr=0.5
Force [N]
800
Cr=0.3
0
600
-0.1
400
-0.2
200
-0.3
0
0 0.5 1 1.5 2 2.5 3 3.5 4 0 0.5 1 1.5 2 2.5 3 3.5
Indentation [m] Indentation [m]
(a) (b)
Fig. 6. Journal-bearing contact model with different restitution coefficients: (a) Force-indentation relation; (b) velocity-indentation relation.
1200
Steel-Steel Steel-Steel
0.3 Steel-Copper
Steel-Copper
1000
0.2
800
Velocity [m/s]
0.1
Force [N]
600
0
400 -0.1
200 -0.2
-0.3
0
0 0.5 1 1.5 2 2.5 3 3.5 4 0 0.5 1 1.5 2 2.5 3 3.5
Indentation [m] Indentation [m]
(a) (b)
Fig. 7. Journal-bearing contact model with different materials: (a) Force-indentation relation; (b) velocity-indentation relation.
592 X. Wang et al. / Journal of Mechanical Science and Technology 31 (2) (2017) 587~597
0.36
Ideal joint
cr=0.3
0.34 cr=0.5
cr=0.7
cr=0.9
0.3
0.28
0.24
0 180 360 540 720
Crank angular position []
(a)
Fx = Ft sin q 4 + Fn cosq 4
(19)
Fy = - Ft cosq 4 + Fn sin q 4
n n L&4Cosq 4 - L4w4 Sinq 4 Cosq 4
=& , (20)
n t L4 Sinq 4 + L4w4Cosq 4 Sinq 4
3
Ideal joint -1.6 Ideal joint
cr=0.3 cr=0.3
2 cr=0.5 cr=0.5
cr=0.7 -1.8 cr=0.7
cr=0.9 cr=0.9
0
-2.2
-1
-2.4
-2
-2.6
-3
0 180 360 540 720 360 540
Crank angular position [] Crank angular position []
(a) (b)
Fig. 11. Slider velocity for different restitution coefficients: (a) Two rotation periods of crank; (b) enlarged view.
500
Ideal joint Ideal joint
400 cr=0.3 0 cr=0.3
cr=0.5 cr=0.5
300 cr=0.7 cr=0.7
Slider acceleration [m /s]
2
200
-100
100
-150
0
-100 -200
-200 -250
-300
-300
-400
0 180 360 540 720 360
Crank angular position [] Crank angular position []
(a) (b)
Fig. 12. Slider acceleration for different restitution coefficients: (a) Two rotation periods of crank; (b) enlarged view.
150 150
125
100 100
Amplitude [m/s ]
Amplitude [m/s ]
2
2
75
50 50
25
0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
Frequency [Hz] Frequency [Hz]
(a) (b)
150 150
125 125
100 100
Amplitude [m/s ]
Amplitude [m/s ]
2
75 75
50 50
25 25
0 0
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350
Frequency [Hz] Frequency [Hz]
(c) (d)
Fig. 13. FFT analysis of slider acceleration for different restitution coefficients: (a) cr = 0.3; (b) cr = 0.5; (c) cr = 0.7; (d) cr = 0.9.
594 X. Wang et al. / Journal of Mechanical Science and Technology 31 (2) (2017) 587~597
120
Ideal joint 90 Ideal joint
110 cr=0.3 cr=0.3
cr=0.5 cr=0.5
80
100 cr=0.7 cr=0.7
cr=0.9 cr=0.9
Joint reaction force [N]
80
60
70
50
60
50 40
40
30
30
20 20
0 180 360 540 720 540
Crank angular position [] Crank angular position []
(a) (b)
Fig. 14. Joint reaction force for different restitution coefficients: (a) Two rotation periods of crank; (b) enlarged view.
15
Ideal joint 6
Ideal joint
cr=0.3 cr=0.3
cr=0.5 cr=0.5
4
10 cr=0.7 cr=0.7
cr=0.9 cr=0.9
Crank moment [Nm]
0 -2
-4
-5
-6
-10
0 180 360 540 720 540
Crank angular position [] Crank angular position []
(a) (b)
Fig. 15. Crank moment for different restitution coefficients: (a) Two rotation periods of crank; (b) enlarged.
0.38
Ideal joint Ideal joint
3 Steel-Steel
Steel-Steel
0.36 Steel-Iron Steel-Iron
Steel-copper 2 Steel-Copper
0.34 Steel-Aluminum Steel-Aluminum
Slider velocity [m/s]
Slider position [m]
1
0.32
0
0.3
0.28 -1
0.26 -2
0.24 -3
0 180 360 540 720 0 180 360 540 720
Crank angular position [] Crank angular position []
Fig. 16. Slider displacement for different materials: two rotation peri- Fig. 17. Slider velocity for different materials: two rotation periods of
ods of crank. crank.
crank moment curves: (i) Based on the influence of clearance, 0.7 to 0.9, the amplitude of reaction force and moment are all
the reaction force curves of clearance joint and crank moment increased.
curves have obvious vibration near the dead points of mecha- Figs. 16-20 show the simulation results for the case of
nism, (ii) when coefficient of restitutions change from 0.3, 0.5, clearance size of 0.1 mm, crank speed of 500 rpm and co-
X. Wang et al. / Journal of Mechanical Science and Technology 31 (2) (2017) 587~597 595
200
Ideal joint Ideal joint
Steel-Steel Steel-Steel
150
Steel-Iron Steel-Iron
Steel-Copper Steel-Copper
Slider acceleration [m /s]
2
50
-50
-100 -150
-150
-200
0 180 360 540 720 360
Crank angular position [] Crank angular position []
(a) (b)
Fig. 18. Slider acceleration for different materials: (a) Two rotation periods of crank; (b) enlarged view.
70
Ideal joint Ideal joint
57
Steel-Steel Steel-Steel
65
Steel-Iron 56 Steel-Iron
Steel-Copper Steel-Copper
55
Joint reaction force [N]
45 50
49
40 48
47
35
0 180 360 540 720 360
Crank angular position [] Crank angular position []
(a) (b)
Fig. 19. Joint reaction force for different materials: (a) Two rotation periods of crank; (b) enlarged view.
Ideal joint
3 Ideal joint
Steel-Steel 0.5
Steel-Steel
Steel-Iron
Steel-Iron
2 Steel-Copper
Steel-Copper
Steel-Aluminum 0
Crank moment [Nm]
Steel-Aluminum
1
-0.5
0
-1
-1
-2 -1.5
-3
0 180 360 540 720 180
Crank angular position [] Crank angular position []
(a) (b)
Fig. 20. Crank moment for different materials: (a) Two rotation periods of crank; (b) enlarged view.
efficient of restitution, 0.3. The material of bearing is steel, but placement and velocity are very small, and the results for dif-
the material of journal is steel, ductile iron, copper and alumi- ferent material parameters are similar. (ii) With the influence
num, respectively. of clearance, the results of slider acceleration, joint reaction
As shown in Figs. 16-20, (i) the effects of clearance on dis- force and crank moment all have obvious vibration, especially
596 X. Wang et al. / Journal of Mechanical Science and Technology 31 (2) (2017) 587~597
near the dead points of mechanism, and the amplitude for the 111 Project (Grant No. B13044), and the Fundamental Re-
condition of steel-steel is also slightly larger than those based search Funds for the Central Universities (Grant No.
on steel-ductile iron, steel-copper and steel-aluminum, which 3102015JCS05008). The authors would like to express their
also can be illustrated by Figs. 18(b)-20(b). (iii) From Fig. appreciation to the agencies.
18(b) it is clear that the slider acceleration curves based on
steel-copper and steel-aluminum have obvious delay when Nomenclature------------------------------------------------------------------------
compared with the results of steel-steel and steel-iron. Mean-
while, the result of steel-aluminum has slighter delay than that c : Radial clearance
of steel-copper, and steel-irons results have slighter delay E : Youngs modulus
than steel-steels, which also can be found in Figs. 19(b) and e : Eccentricity vector
20(b). The reason for this phenomenon is that according to the FN : Normal force component
material combination of steel-steel, steel-iron, steel-copper FT : Tangential force component
and steel-aAluminum, the contact stiffness is gradually de- K : Stiffness coefficient
creased. L : Length of the bearing
n : Normal vector
RB : Bearing radius
4. Conclusion
RJ : Journal radius
A comprehensive methodology for clearance revolute joints t : Tangential vector
in a planar multibody system has been presented and analyzed. vN : Impact velocity in the normal direction
Based on a new nonlinear impact force model and a modified vT : Impact velocity in the tangential direction
Coulomb friction model, the effects of impact and friction vs : Critical velocity of static friction
between journal and bearing are obtained. To perform a para- vd : Critical velocity of dynamic friction
metric study of dynamic response, the restitution coefficient : Indentation between contact face of the journal and the
and material parameters were selected to analyze a typical bearing
journal-bearing model and a planar slider-crank mechanism : Friction coefficient
with clearance between connecting rob and slider. s : Static friction coefficient
From the main numerical results under the different restitu- d : Dynamic friction coefficient
tion coefficient and material parameters, some important con- : Poisson ratio
clusions are drawn as follow. (1) Restitution coefficient and
material characteristics have small influence on displacement
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