The goal of this work is to investigate the dynamic responses of the parallel mechanism with irregular clearances caused by wear and to further reveal the influences of multiple clearance interaction on wear. The motion model and the force model of spherical clearance joint based on a continuous contact force model and a static friction model are established. The dynamic equation of the spatial parallel mechanism considering two spherical clearance joints is derived. A general wear analysis strategy to establish spherical clearance joint with sustainable updation of the surface profile is presented, and the dynamic responses of parallel mechanism after wear are studied. The interaction between two wear joints with different initial clearance values is further investigated. The results show that it is necessary to consider the factor of irregular clearances caused by wear in the analysis of dynamics behavior for precision mechanisms. Proper distribution of clearance values can reduce wear of clearance joint and improve the useful life of mechanism to a certain extent. This work provides a foundation for life prediction and reliability analysis of parallel mechanisms.
Issue Section:
Friction and Wear
References
1.
Zhao
, B.
, Dai
, X. D.
, Zhang
, Z. N.
, and Xie
, Y. B.
, 2015
, “Numerical Study of the Effects on Clearance Joint Wear in Flexible Multibody Mechanical Systems
,” Tribol. T
, 58
(3
), pp. 385
–396
. 2.
Tian
, Q.
, Flores
, P.
, and Lankarani
, H. M.
, 2018
, “A Comprehensive Survey of the Analytical, Numerical and Experimental Methodologies for Dynamics of Multibody Mechanical Systems With Clearance or Imperfect Joints
,” Mech. Mach. Theory
, 122
(4
), pp. 1
–57
. 3.
Chen
, X. L.
, Chen
, T. X.
, Li
, Y. W.
, and Meng
, Z. R.
, 2018
, “Kinematics Modeling and Analysis of 3-PRR Parallel Robot Mechanism
,” J. Shandong Univ. Sci. Technol. (Natural Sci. Ed.)
, 37
(5
), pp. 79
–87
.4.
Zhang
, X. C.
, and Zhang
, X. M.
, 2017
, “Minimizing the Influence of Revolute Joint Clearance Using the Planar Redundantly Actuated Mechanism
,” Robot Cim. Int. Manuf.
, 46
(4
), pp. 104
–113
. 5.
Bai
, Z. F.
, Jiang
, X.
, Li
, F.
, Zhao
, J. J.
, and Zhao
, Y.
, 2018
, “Reducing Undesirable Vibrations of Planar Linkage Mechanism With Joint Clearance
,” J. Mech. Sci. Technol.
, 32
(2
), pp. 559
–565
. 6.
Erkaya
, S.
, 2018
, “Experimental Investigation of Flexible Connection and Clearance Joint Effects on the Vibration Responses of Mechanisms
,” Mech. Mach. Theory
, 121
(3
), pp. 515
–529
. 7.
Ma
, J.
, Qian
, L. F.
, Chen
, G. S.
, and Li
, M.
, 2015
, “Dynamic Analysis of Mechanical Systems With Planar Revolute Joints With Clearance
,” Mech. Mach. Theory
, 94
(12
), pp. 148
–164
. 8.
Ma
, J.
, and Qian
, L. F.
, 2017
, “Modeling and Simulation of Planar Multibody Systems Considering Multiple Revolute Clearance Joints
,” Nonlinear Dynam.
, 90
(3
), pp. 1907
–1940
. 9.
Marques
, F.
, Isaac
, F.
, Dourado
, N.
, and Flores
, P.
, 2017
, “An Enhanced Formulation to Model Spatial Revolute Joints With Radial and Axial Clearances
,” Mech. Mach. Theory
, 116
(10
), pp. 123
–144
. 10.
Flores
, P.
, Leine
, R.
, and Glocker
, C.
, 2010
, “Modeling and Analysis of Planar Rigid Multibody Systems With Translational Clearance Joints Based on the Non-Smooth Dynamics Approach
,” Multibody Syst. Dyn.
, 23
(2
), pp. 165
–190
. 11.
Ambrósio
, J.
, and Pombo
, J.
, 2018
, “A Unified Formulation for Mechanical Joints With and Without Clearances/Bushings and/or Stops in the Framework of Multibody Systems
,” Multibody Syst. Dyn.
, 42
(3
), pp. 317
–345
. 12.
Zheng
, E. L.
, Wang
, T. Y.
, Guo
, J.
, Zhu
, Y.
, Lin
, X. Z.
, Wang
, Y. J.
, and Kang
, M.
, 2019
, “Dynamic Modeling and Error Analysis of Planar Flexible Multilink Mechanism With Clearance and Spindle-Bearing Structure
,” Mech. Mach. Theory
, 131
(1
), pp. 234
–260
. 13.
Zheng
, X. D.
, Zhang
, R. S.
, and Wang
, Q.
, 2018
, “Comparison and Analysis of Two Coulomb Friction Models on the Dynamic Behavior of Slider-Crank Mechanism With a Revolute Clearance Joint
,” Appl. Math. Mech. Engl.
, 39
(9
), pp. 1239
–1258
. 14.
Gallant
, M.
, and Gosselin
, C.
, 2018
, “Singularities of a Planar 3-RPR Parallel Manipulator With Joint Clearance
,” Robotica
, 36
(7
), pp. 1098
–1109
. 15.
Li
, P.
, Chen
, W.
, Li
, D. S.
, Yu
, R. F.
, and Zhang
, W. J.
, 2016
, “Wear Analysis of Two Revolute Joints With Clearance in Multibody Systems
,” ASME J. Comput. Nonlin. Dyn.
, 11
(1
), p. 011009
. 16.
Xiang
, W. W. K.
, Yan
, S. Z.
, and Wu
, J. N.
, 2015
, “A Comprehensive Method for Joint Wear Prediction in Planar Mechanical Systems With Clearances Considering Complex Contact Conditions
,” Sci. China Technol. Sc.
, 58
(1
), pp. 86
–96
. 17.
Sun
, D. Y.
, Chen
, G. P.
, Wang
, T. C.
, and Sun
, R. J.
, 2014
, “Wear Prediction of a Mechanism With Joint Clearance Involving Aleatory and Epistemic Uncertainty
,” ASME J. Tribol.
, 136
(4
), p. 041101
. 18.
Bai
, Z. F.
, Zhao
, Y.
, and Chen
, J.
, 2013
, “Dynamics Analysis of Planar Mechanical System Considering Revolute Clearance Joint Wear
,” Tribol. Int.
, 64
(8
), pp. 85
–95
. 19.
Xu
, L. X.
, Han
, Y. C.
, Dong
, Q. B.
, and Jia
, H. L.
, 2019
, “An Approach for Modelling a Clearance Revolute Joint With a Constantly Updating Wear Profile in a Multibody System: Simulation and Experiment
,” Multibody Syst. Dyn.
, 45
(4
), pp. 457
–478
. 20.
Zhang
, J.
, Chen
, Z. X.
, Wang
, L.
, Li
, D. C.
, and Jin
, Z. M.
, 2017
, “A Patient-Specific Wear Prediction Framework for an Artificial Knee Joint With Coupled Musculoskeletal Multibody-Dynamics and Finite Element Analysis
,” Tribol. Int.
, 109
(5
), pp. 382
–389
. 21.
Mukras
, S.
, Kim
, N. H.
, Mauntler
, N. A.
, Schmitz
, T. L.
, and Sawyer
, W. G.
, 2010
, “Analysis of Planar Multibody Systems With Revolute Joint Wear
,” Wear
, 268
(5–6
), pp. 643
–652
. 22.
Mukras
, S.
, Kim
, N. H.
, Mauntler
, N. A.
, Schmitz
, T.
, and Sawyer
, W. G.
, 2010
, “Comparison Between Elastic Foundation and Contact Force Models in Wear Analysis of Planar Multibody System
,” ASME J. Tribol
, 132
(3
), p. 031604
. 23.
Wang
, G. X.
, and Liu
, H. Z.
, 2018
, “Three-Dimensional Wear Prediction of Four-Degrees-of-Freedom Parallel Mechanism With Clearance Spherical Joint and Flexible Moving Platform
,” ASME J. Tribol.
, 140
(3
), p. 031611
. 24.
Flores
, P.
, Machado
, M.
, Silva
, M. T.
, and Martins
, J. M.
, 2011
, “On the Continuous Contact Force Models for Soft Materials in Multibody Dynamics
,” Multibody Syst. Dyn.
, 25
(3
), pp. 357
–375
. 25.
Xiang
, W. W. K.
, Yan
, S. Z.
, and Wu
, J. N.
, 2019
, “Dynamic Analysis of Planar Mechanical Systems Considering Stick-Slip and Stribeck Effect in Revolute Clearance Joints
,” Nonlinear Dynam.
, 95
(1
), pp. 321
–341
. 26.
Marques
, F.
, Flores
, P.
, Claro
, J. C. P.
, and Lankarani
, H. M.
, 2019
, “Modeling and Analysis of Friction Including Rolling Effects in Multibody Dynamics: A Review
,” Multibody Syst. Dyn.
, 45
(2
), pp. 223
–244
. 27.
Brown
, P.
, and McPhee
, J.
, 2016
, “A Continuous Velocity-Based Friction Model for Dynamics and Control With Physically Meaningful Parameters
,” ASME J. Comput. Nonlin. Dyn.
, 11
(5
), p. 054502
. 28.
Flores
, P.
, Machado
, M.
, Seabra
, E.
, and da Silva
, M. T.
, 2011
, “A Parametric Study on the Baumgarte Stabilization Method for Forward Dynamics of Constrained Multibody Systems
,” ASME J. Comput. Nonlin. Dyn.
, 6
(1
), p. 011019
. 29.
Wang
, G. X.
, Liu
, H. Z.
, and Deng
, P. S.
, 2015
, “Dynamics Analysis of Spatial Multibody System With Spherical Joint Wear
,” ASME J. Tribol.
, 137
(2
), p. 021605
. 30.
Li
, Y. Y.
, Wang
, C.
, and Huang
, W. H.
, 2019
, “Dynamics Analysis of Planar Rigid-Flexible Coupling Deployable Solar Array System With Multiple Revolute Clearance Joints
,” Mech. Syst. Signal Pr.
, 117
, pp. 188
–209
. 31.
Askari
, E.
, Flores
, P.
, Dabirrahmani
, D.
, and Appleyard
, R.
, 2015
, “Dynamic Modeling and Analysis of Wear in Spatial Hard-on-Hard Couple Hip Replacements Using Multibody Systems Methodologies
,” Nonlinear Dynam.
, 82
(1–2
), pp. 1039
–1058
. Copyright © 2019 by ASME
You do not currently have access to this content.
