Dynamics of chain drives using a generalized revolute clearance joint formulation

Roller chain drives can be modeled as a constrained dynamic system composed of a large number of rigid bodies, links, rollers and sprockets, interconnected by multiple ideal or clearance revolute joints. Here, the methodology described for a clearance revolute joint, usually used in the contact between the pin link/bushing link and the bushing link/roller pairs, is generalized to describe the roller/sprocket tooth surface contact pair. Regardless of whether the clearance revolute joint is used for roller-sprocket or bushing-sprocket engagements, depending on the chain type, the contact conditions are defined as a function of the tooth geometry. The methodology describing the tooth profile and allowing for the contact detection uses a tooth fixed coordinate system to evaluate all quantities required by the contact force model. As the contact phenomenon is herein described using the continuous contact force method, the contact force in each contact pair is available at any time during the dynamic simulation.