Dynamic analysis of mechanisms with joint friction in the presence of redundant constraints

• Autorzy: Frączek J. , Wojtyra M.
• Języki publikacji: EN

Abstrakty

EN

This paper discusses the problem of calculating the joint friction forces in redundantly constrained rigid body mechanisms, described in absolute Cartesian coordinates. At the beginning the systems without joint friction are considered. It is shown that, under certain conditions, selected joint reaction forces can be uniquely determined despite the redundant constraints existence. A numerical method of such joints detection is proposed. Afterwards the equations of motion for mechanisms with redundant constraints and Coulomb friction in joints are formulated. In general, motion of such system is not defined uniquely. If, however, friction forces appear only in joints with uniquely determined reactions, motion can be determined uniquely. An example of dynamic analysis of a mechanism with redundant constraints and joint friction is presented.

Słowa kluczowe

EN

redundant constraints; joint reactions; Coulomb friction; dynamics

PL

zbędne ograniczenia; wspólne reakcje; tarcia Coulomba; dynamika

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2010
• Tom: Vol. 15, no 3
• Strony: 685--697
• Opis fizyczny: Bibliogr. 8 poz., rys., wykr.

Twórcy

autor

Frączek J.

autor

Wojtyra M.

• Warsaw University of Technology Institute of Aeronautics and Applied Mechanics Nowowiejska 24, 00-665 Warsaw, POLAND,

Bibliografia

• Arczewski K. and Frączek J. (2005): Friction models and stress recovery methods in vehicle dynamics modelling. – Multibody System Dynamics, vol.14, pp.205-224, Springer.
• Corwin L.J. and Szczarba R.H (1982): Multivariable Calculus. – Marcel Dekker.
• Garcia de Jalon J. and Bayo E. (1994): Kinematic and Dynamic Simulation of Multibody Systems: the Real-Time Challenge. – Springer.
• Haug E.J. (1989): Computer Aided Kinematics and Dynamics of Mechanical Systems. – Allyn and Bacon.
• Haug E.J., Wu S.C. and Yang S.M. (1986): Dynamics of mechanical systems with Coulomb friction, stiction, impact, and constraints addition, deletion. Part I, II, III. – Mechanism and Machine Theory, vol.21, pp.401-425.
• Nikravesh P.E. (1988): Computer-Aided Analysis of Mechanical Systems. – Prentice Hall.
• Wojtyra M. (2005): Joint reaction forces in multibody systems with redundant constraints. – Multibody System Dynamics, vol.14, pp.23-46, Springer.
• Wojtyra M. (2009): Joint reactions in rigid body mechanisms with dependent constraints. – Mechanism and Machine Theory, vol.44, No.12, pp.2265-2278, Elsevier.