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Published in:
2020 | OriginalPaper | Chapter
Analysis of the Influence of the Links’ Flexibility and Clearance Effects on the Dynamics of the RUSP Linkage
Authors : Krzysztof Augustynek, Andrzej Urbaś
Published in: Multibody Dynamics 2019
Publisher: Springer International Publishing
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Abstract
A mathematical model of the RUSP linkage with a flexible link and clearance in a revolute joint is presented. In the proposed model it is assumed that the clearance exists only in the cut-joint. A new spatial model of the revolute joint with a radial and axial clearance is proposed. In this approach, the clearance joint is discretized by means of the contact elements located on the cylindrical and frontal surfaces of the journal and bearing which can automatically detect collisions between contacting bodies. The normal contact force is modelled using the Nikravesh-Lankarani formula. The LuGre friction model is applied to model tangent friction force. Flexible link is discretized by means of the Rigid Finite Element method. In simulations, the influence of the link’s flexibility and clearance in the revolute joint on the dynamic response of the linkage is analyzed.