In order to get the influence of spatial cylindrical joint with clearances to system, firstly, all possible contact modes of the typical spatial cylindrical clearance joint were analyzed. Aiming at the spatial cylindrical joint with clearances in the axial and radial direction ,the geometry and kinematics of complicated contact mode were analyzed. An improved method for computing potential contact points was established. The normal contact impact force model and the tangent friction force model were set up. Then, the multi-body dynamic equation was given with the normal contact impact force and the tangent friction force. Finally, spatial double pendulum with joint clearance was discussed compared with ideal model. The results showed that kinematic accuracy and dynamic performance were affected greatly of the system, because of the existed clearances in the axial and radial direction, and different clearance size also changed kinematic accuracy of the system. This method and results of spatial cylindrical joint with clearances provided the theoretical basis for design and improvement of the mechanical structures.
刘太素，钱林方，尹强. 考虑间隙的空间圆柱铰多体系统运动学精度及动力学分析[J]. 振动与冲击, 2017, 36(19): 151-157.
LIU Tai-su,QIAN Lin-fang,YIN Qiang. Kinematics Accuracy and Dynamic Analysis of multi-body system with Spatial cylindrical clearance joint. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(19): 151-157.
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