1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;2. China Ship Development and Design Center, Wuhan 430064, China
Abstract：A dynamical model for multi-body system dynamics with cylindrical joint clearance was studied. An improved method for detecting potential contact points and the technique for deciding contact and separation were established based on the joint’s structural features. The normal contact force was modeled using the continuous approach proposed by Lankarani and Nikravesh, and the tangent friction was calculated using a modified Coulomb’s friction law. A unified dynamic equation of the multi-body system was established considering “contact” and “separation” scenarios. The numerical analysis of a mechanism with joint clearance indicate that joint clearance has little effect upon other part’s movements and causes high contact-impact forces in a short period of time. As time increases, other parts are seriously affected by the joint clearance. However, axle movements of the contacted parts are influenced by the contact friction. Furthermore, the presented method offers the theory reference for related and more complex mechanisms.
2013, Vol. 32 
