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Formulation of a Class of Higher Pair Joints in Multibody Systems Using Joint Coordinates

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Abstract

This paper describes the development of general formulations of higher pair joints in multibody systems. A class of higher pair joints, described as a spatial point contact between the surfaces of two interacting bodies is formulated by means of Joint Coordinate Formulation and implemented in a general purpose multibody analysis program. The joint is formulated as remaining within the reduced open loop system according to the notation applied in the Joint Coordinate Method. This representation necessitates an evaluation of the degrees of freedom in the joint. Based on these considerations, the point contact joint is also formulated to cut a loop in the mechanical system. In this case, the appropriate constraint equations and a set of artificial variables are introduced in the analysis. The surfaces in the point contact joint are represented as parametric cubic spline patches but can also be introduced using other methods. Examples illustrating the implemented types of joints are presented at the end of the paper.

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  1. Institute of Mechanical Engineering, Aalborg University, Pontoppidanstraede 101, DK-9220, Aalborg East, Denmark

    C. Balling

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  1. C. Balling
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Balling, C. Formulation of a Class of Higher Pair Joints in Multibody Systems Using Joint Coordinates. Multibody System Dynamics 3, 21–45 (1999). https://doi.org/10.1023/A:1009712518724

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