A study on dynamics of planar multibody mechanical systems with multiple revolute clearance joints

In this work, the dynamic responses of multibody mechanical systems including multiple revolute clearance joints are investigated numerically. The joint components of an imperfect joint with clearance are modeled as contact bodies. The normal force in the revolute clearance joint is modeled using a continuous contact force model, which is based on the elastic Hertz theory together with a dissipative term. The friction effect is considered using a modified Coulomb friction model. Then the dynamics equation of multibody systems with clearance joint is established. Finally, a planar four-bar mechanical system with multiple revolute clearance joints is utilized as demonstrative application example to perform the investigation. The main results of this work can be drawn that clearances in joints play a crucial role in predicting accurately the dynamic responses of multibody mechanical systems and the multiple clearance joints interact strongly with one another.