Dynamics modeling and quantitative analysis of multibody systems including revolute clearance joint

The dynamics characteristics of multibody mechanical systems including revolute joints with clearance are investigated using a computational methodology and a quantitative analysis method is proposed in this work. The contact force model in revolute joint clearance is performed using a nonlinear continuous contact force model and the friction effect is considered using a modified Coulomb friction model. The planar four-bar mechanism is used as demonstrative application example to validate the quantitative analysis method. Numerical results for four-bar mechanism with revolute clearance joint are presented and discussed. Further, two kinds of dimensionless indicator are defined for quantitative analysis of mechanical system with joint clearance. And the clearance size, friction effects and crank driving speed are analyzed separately.