Modeling and simulation of planar multibody systems with revolute clearance joints considering stiction based on an LCP method

The main objective of this study is to present a general modeling and simulation methodology for planar rigid multibody systems with revolute clearance joints considering the effect of stiction. The normal and tangential contact forces acting at the contact points between the components of the clearance joints are described by a Hertzian-based contact force model and the Coulomb dry friction model, respectively. The equations of motion of the systems are derived on the basis of Lagrange equations of the first kind and the Baumgarte stabilization method. Based on the non-smooth dynamics method, the determination of stick-slip transitions and the calculation of static frictional forces of the contact points are transformed as a linear complementarity problem (LCP), which is solved with an event-driven scheme. Finally, two numerical examples are given as demonstrative applications. The results show that the stiction in the revolute clearance joints influences the dynamic response of the multibody systems.