Skip to main content
SpringerLink
Log in

Clearance-induced vibration responses of mechanical systems: computational and experimental investigations

  • Technical Paper
  • Published:
Journal of the Brazilian Society of Mechanical Sciences and Engineering Aims and scope Submit manuscript

Abstract

A suitable value of clearance in a joint connection is essential for the relative motion necessity of adjacent links. Even if the size of clearance is small, it should be considered at the governing equation of the system. During the mechanism motion, joint clearance is the basis of contact–impact forces between joint parts. In this study, clearance-induced dynamic responses of a spatial mechanism are investigated. Different clearance sizes and driving speeds are performed. For the computational approach, mechanism model is built using the simulation software ADAMS. The actual features of the system such as contact and friction are also considered at the model mechanism. A contact–impact model that comprises the impact function and the energy dissipation during the contact process is also utilized for the computational evaluations. At the experimental stage, clearance-induced vibrations are obtained from the system bearing as a reflection of impulsive forces. Two accelerometer sensors are used for necessary measurements. The results show that the clearance-based impulsive forces have crucial effects on the vibration responses. Clearance is a reason for the non-periodic vibration behaviors. Both the peak frequency and the vibration amplitude are affected from the clearance sizes and driving speeds.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

References

  1. Chen Y, Sun Y, Yang D (2017) Investigations on the dynamic characteristics of a planar slider–crank mechanism for a high-speed press system that considers joint clearance. J Mech Sci Technol 31(1):75–85

    Article  Google Scholar 

  2. Farahan SB, Ghazavi MR, Rahmanian S (2017) Bifurcation in a planar four-bar mechanism with revolute clearance joint. Nonlinear Dyn 87(2):955–973

    Article  Google Scholar 

  3. Ebrahimi S, Salahshoor E, Maasoomi M (2017) Application of the method of multiple scales for nonlinear vibration analysis of mechanical systems with dry and lubricated clearance joints. J Theor Appl Vib Acoust 3(1):41–60

    Google Scholar 

  4. Ting KW, Hsu KL, Wang J (2017) Clearance-induced position uncertainty of linkages and parallel manipulators. J Mech Robot 9(6):061001

    Article  Google Scholar 

  5. Zhu A, He S, Zhao J, Luo W (2017) A nonlinear contact pressure distribution model for wear calculation of planar revolute joint with clearance. Nonlinear Dyn 88(1):315–328

    Article  Google Scholar 

  6. Khemili I, Romdhane L (2008) Dynamic analysis of a flexible slider–crank mechanism with clearance. Eur J Mech A Solids 27:882–898

    Article  MATH  Google Scholar 

  7. Ahmedalbashir M, Romdhane L, Lee J (2017) Dynamics of a four-bar mechanism with clearance and springs—modeling and experimental analysis. J Mech Sci Technol 31(3):1023–1033

    Article  Google Scholar 

  8. Akhadkar N, Acary V, Brogliato B (2017) Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation. Multibody Syst Dyn. https://doi.org/10.1007/s11044-017-9584-5

    Google Scholar 

  9. Erkaya S (2012) Investigation of joint clearance effects on welding robot manipulators. Robot Comput Integr Manuf 28:449–457

    Article  Google Scholar 

  10. Erkaya S, Uzmay İ (2009) Investigation on effect of joint clearance on dynamics of four-bar mechanism. Nonlinear Dyn 58:179–198

    Article  MATH  Google Scholar 

  11. Erkaya S, Uzmay İ (2009) Determining link parameters using genetic algorithm in mechanisms with joint clearance. Mech Mach Theory 44:222–234

    Article  MATH  Google Scholar 

  12. Erkaya S, Uzmay İ (2009) Optimization of transmission angle for slider–crank mechanism with joint clearances. Struct Multidiscipl Optim 37:493–508

    Article  Google Scholar 

  13. Erkaya S, Doğan S (2015) A comparative analysis of joint clearance effects on articulated and partly compliant mechanisms. Nonlinear Dyn 81:323–341

    Article  Google Scholar 

  14. Erkaya S, Doğan S, Ulus Ş (2015) Effects of joint clearance on the dynamics of a partly compliant mechanism: numerical and experimental studies. Mech Mach Theory 88:125–140

    Article  Google Scholar 

  15. Erkaya S, Doğan S, Şefkatlioğlu E (2016) Analysis of the joint clearance effects on a compliant spatial mechanism. Mech Mach Theory 104:255–273

    Article  Google Scholar 

  16. Erkaya S, Uzmay İ (2010) Experimental investigation of joint clearance effects on the dynamics of a slider–crank mechanism. Multibody Syst Dyn 24:81–102

    Article  MATH  Google Scholar 

  17. Erkaya S (2012) Prediction of vibration characteristics of a planar mechanism having imperfect joints using neural network. J Mech Sci Technol 26:1419–1430

    Article  Google Scholar 

  18. Erkaya S, Uzmay İ (2014) Modeling and simulation of joint clearance effects on mechanisms having rigid and flexible links. J Mech Sci Technol 28:2979–2986

    Article  Google Scholar 

  19. Erkaya S (2012) Effects of balancing and link flexibility on dynamics of a planar mechanism having joint clearance. Sci Iran 19:483–490

    Article  Google Scholar 

  20. Erkaya S (2013) Trajectory optimization of a walking mechanism having revolute joints with clearance using ANFIS approach. Nonlinear Dyn 71:75–91

    Article  MathSciNet  Google Scholar 

  21. Erkaya S, Uzmay I (2008) A neural–genetic (NN–GA) approach for optimising mechanisms having joints with clearance. Multibody Sys Dyn 20:69–83

    Article  MathSciNet  MATH  Google Scholar 

  22. Erkaya S (2017) Effects of joint clearance on motion accuracy of robotic manipulators. J Mech Eng. https://doi.org/10.5545/sv-jme.2017.4534

    Google Scholar 

  23. Flores P, Ambrósio J, Claro JC, Lankarani HM (2006) Dynamics of multibody systems with spherical clearance joints. J Comput Nonlinear Dyn 1:240–247

    Article  MATH  Google Scholar 

  24. Flores P, Koshy C, Lankarani H, Ambrósio J, Claro JCP (2011) Numerical and experimental investigation on multibody systems with revolute clearance joints. Nonlinear Dyn 65:383–398

    Article  MATH  Google Scholar 

  25. Tian Q, Liu C, Machado M, Flores P (2011) A new model for dry and lubricated cylindrical joints with clearance in spatial flexible multibody systems. Nonlinear Dyn 64:25–47

    Article  MATH  Google Scholar 

  26. Flores P, Lankarani HM (2010) Spatial rigid-multibody systems with lubricated spherical clearance joints: modeling and simulation. Nonlinear Dyn 60:99–114

    Article  MATH  Google Scholar 

  27. Flores P, Ambrósio J, Claro JCP, Lankarani H (2006) Spatial revolute joints with clearances for dynamic analysis of multi-body systems. Proc Inst Mech Eng Part K J Multibody Dyn 220:257–271

    Google Scholar 

  28. Cammarata A (2017) A novel method to determine position and orientation errors in clearance-affected overconstrained mechanisms. Mech Mach Theory 118:247–264

    Article  Google Scholar 

  29. Tian Q, Lou J, Mikkola A (2017) A new elastohydrodynamic lubricated spherical joint model for rigid-flexible multibody dynamics. Mech Mach Theory 107:210–228

    Article  Google Scholar 

  30. Wang G, Liu H, Deng P (2014) Dynamic modeling for a parallel mechanism considering spherical joint clearance. J Vib Shock 10:009

    Google Scholar 

  31. Wang G, Liu H, Deng P (2015) Dynamics analysis of spatial multibody system with spherical joint wear. J Tribol 137(2):021605

    Article  Google Scholar 

  32. Wang G, Liu H (2017) Dynamic analysis and wear prediction of planar five-bar mechanism considering multiflexible links and multiclearance joints. J Tribol 139(5):051606

    Article  Google Scholar 

  33. Tian Q, Zhang Y, Chen L, Flores P (2009) Dynamics of spatial flexible multibody systems with clearance and lubricated spherical joints. Compos Struct 87:913–929

    Article  Google Scholar 

  34. Marques F, Flores P, Claro JCP, Lankarani HM (2016) A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems. Nonlinear Dyn 86(3):1407–1443

    Article  MathSciNet  Google Scholar 

  35. Marques F, Isaac F, Dourado N, Flores P (2017) An enhanced formulation to model spatial revolute joints with radial and axial clearances. Mech Mach Theory 116:123–144

    Article  Google Scholar 

  36. Askari E, Flores P, Dabirrahmani D, Appleyard R (2014) Nonlinear vibration and dynamics of ceramic on ceramic artificial hip joints: a spatial multibody modelling. Nonlinear Dyn 76(2):1365–1377

    Article  MathSciNet  Google Scholar 

  37. Zhang J, Guo HW, Liu RQ, Deng ZQ (2015) Nonlinear characteristic of spherical joints with clearance. J Aerosp Technol Manag 7(2):179–184

    Article  Google Scholar 

  38. Alves J, Peixinho N, Silva MT, Flores P, Lankarani HM (2015) A comparative study of the viscoelastic constitutive models for frictionless contact interfaces in solids. Mech Mach Theory 85:172–188

    Article  Google Scholar 

  39. Askari E, Flores P, Dabirrahmani D, Appleyard R (2015) Dynamic modeling and analysis of wear in spatial hard-on-hard couple hip replacements using multibody systems methodologies. Nonlinear Dyn 82:1039–1058

    Article  MathSciNet  Google Scholar 

  40. Flores P, Ambrósio J (2010) On the contact detection for contact–impact analysis in multibody systems. Multibody Syst Dyn 24:103–122

    Article  MathSciNet  MATH  Google Scholar 

  41. Lankarani H, Nikravesh P (1990) A contact force model with hysteresis damping for impact analysis of multibody systems. J Mech Des 112:369–376

    Article  Google Scholar 

  42. Zheng E, Zhu R, Zhu S, Lu X (2016) A study on dynamics of flexible multi-link mechanism including joints with clearance and lubrication for ultra-precision presses. Nonlinear Dyn 83:137–159

    Article  MathSciNet  Google Scholar 

  43. Flores P, Ambrósio J, Claro JCP, Lankarani H, Koshy C (2006) A study on dynamics of mechanical systems including joints with clearance and lubrication. Mech Mach Theory 41:247–261

    Article  MATH  Google Scholar 

  44. Ravn P (1998) A continuous analysis method for planar multibody systems with joint clearance. Multibody Sys Dyn 2:1–24

    Article  MATH  Google Scholar 

  45. Flores P, Machado M, Silva MT, Martins JM (2011) On the continuous contact force models for soft materials in multibody dynamics. Multibody Syst Dyn 25:357–375

    Article  MATH  Google Scholar 

  46. Machado M, Moreira P, Flores P, Lankarani HM (2012) Compliant contact force models in multibody dynamics: evolution of the Hertz contact theory. Mech Mach Theory 53:99–121

    Article  Google Scholar 

  47. Flores P, Ambrósio J, Claro JP, Lankarani HM (2008) Kinematics and dynamics of multibody systems with imperfect joints: models and case studies. Springer, Berlin

    MATH  Google Scholar 

  48. MSC ADAMS (2013) Automatic dynamic analysis of mechanical systems. MSC Software Corporation, Santa Ana

    Google Scholar 

  49. Pennestrì E, Rossi V, Salvini P, Valentini PP (2016) Review and comparison of dry friction force models. Nonlinear Dyn 83:1785–1801

    Article  MATH  Google Scholar 

  50. Bai ZF, Zhao Y (2013) A hybrid contact force model of revolute joint with clearance for planar mechanical systems. Int J Non-Linear Mech 48:15–36

    Article  Google Scholar 

  51. Rao SS (1990) Mechanical vibrations, 2nd edn. Addison-Wesley, USA

    MATH  Google Scholar 

  52. Flores P (2010) A parametric study on the dynamic response of planar multibody systems with multiple clearance joints. Nonlinear Dyn 61:633–653

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Mechatronics Engineering Department, Engineering Faculty, Erciyes University, 38039, Kayseri, Turkey

    Selçuk Erkaya

Authors
  1. Selçuk Erkaya
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Selçuk Erkaya.

Additional information

Technical Editor: Kátia Lucchesi Cavalca Dedini.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Erkaya, S. Clearance-induced vibration responses of mechanical systems: computational and experimental investigations. J Braz. Soc. Mech. Sci. Eng. 40, 90 (2018). https://doi.org/10.1007/s40430-018-1015-x

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s40430-018-1015-x

Keywords

Search

Navigation