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A comparative analysis of joint clearance effects on articulated and partly compliant mechanisms

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Abstract

Clearance is inevitable in the articulated mechanisms due primarily to the design, manufacturing and assembly processes or a wear effect. This phenomenon affects the kinematic and dynamic performances of mechanism negatively. Compliant mechanism, which consists of at least one flexible member along with the conventional rigid links, becomes a favorable choice to decrease the number of movable joints and also their clearance effects. In this study, conventional and compliant slider–crank mechanisms having joints with clearance are used to investigate and compare the effects of joint clearance. Pseudo-rigid-body model of compliant mechanism is constituted. For the case of different clearance sizes and running speeds, kinematic and dynamic performances of mechanisms are compared to each other. The results show that the joint clearance leads to chaotic behavior on kinematic and dynamic outputs of mechanism. The flexibility of small-length flexural pivot, that is, pseudo-joint, has clear suspension effects to decrease the undesired reflections of joints clearance on the system outputs. Also, this pseudo-joint constitutes a force-closed kinematic pair behavior between journal and bearing in joint having clearance. This leads to continuous contact mode by preventing the separation of journal and bearing parts.

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Acknowledgments

This study is a part of the research project FYL-2013-4350. The authors wish to express their thanks for financial support being provided by the Scientific Research Projects Coordination Unit of Erciyes University, in carrying out this study.

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Authors and Affiliations

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

    Selçuk Erkaya

  2. Mechanical Engineering Department, Engineering Faculty, Melikşah University, 38280, Kayseri, Turkey

    Selim Doğan

Authors
  1. Selçuk Erkaya
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  2. Selim Doğan
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Corresponding author

Correspondence to Selçuk Erkaya.

Appendix

Appendix

CAD models for MSC. ADAMS program are given in Fig. 16.

Fig. 16
figure 16

CAD models for MSC.ADAMS software: a Partly compliant mechanism, b classic articulated mechanism

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Simulation results of contact force components for crank-connecting rod joint with clearance are outlined in Figs. 17 and 18.

Fig. 17
figure 17

Contact force components for joint A having clearance in case of 200 rpm running speed

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Fig. 18
figure 18

Contact force components for joint A having clearance in case of 600  rpm running speed

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Erkaya, S., Doğan, S. A comparative analysis of joint clearance effects on articulated and partly compliant mechanisms. Nonlinear Dyn 81, 323–341 (2015). https://doi.org/10.1007/s11071-015-1994-4

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  • DOI: https://doi.org/10.1007/s11071-015-1994-4

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