Modeling and control of crank–slider mechanism with multiple clearance joints

• Published in: Multibody system dynamics Vol. 36; no. 2; pp. 143 - 167
• Main Authors: Yaqubi, Sadeq, Dardel, Morteza, Daniali, Hamidreza Mohammadi, Ghasemi, Mohammad Hassan
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01-02-2016
• Subjects: Automotive Engineering; Control; Dynamical Systems; Electrical Engineering; Engineering; Mechanical Engineering; Optimization; Vibration; Multiple clearance joint; Poincare map; Clearance joint; Crank–slider mechanism
• ISSN: 1384-5640; 1573-272X
• DOI: 10.1007/s11044-015-9486-3

In the current study, the behavior of a crank–slider mechanism with single and multiple clearance joints is analyzed. For this purpose nonlinear dynamics of the system are discussed, using Poincare maps and bifurcation diagrams. Subsequently, the effects of joint friction on dynamical behavior and nonlinear response of the mechanism are investigated. Afterward, a control scheme providing continuous contact in joints, with the aim of maintaining a more stable behavior, is proposed. The control scheme is easy to apply and, since continuous contact between bodies in joints is established, several undesired effects normally caused because of clearance joints are prevented or reduced. Also the limitation of the proposed control method is investigated.