An approach for dynamic analysis of planar multibody systems with revolute clearance joints

  • Yu Chen
  • Jun Feng
  • Xu Peng
  • Yu Sun
  • Qiang HeEmail author
  • Chengtao Yu
Original Article


Clearance is inevitable for manufacture and assembly in the revolute joints of multibody systems. Excessive value of joint clearance will lead to the poor dynamic performance of mechanism, namely noise, vibration and fatigue failure. This paper presents the development of a dynamic model for planar multibody systems with clearance joints. Based on the continuous contact law, the contact force model proposed by Lankarani and Nikravesh is employed to describe the contact–impact phenomenon between pin and hole. And, the incorporation of the friction influence on revolute joint clearance is conducted by a modified friction force model. According to the geometric relationship between contact elements, the kinematics of the multibody systems is mapped into the global coordinate systems. Additionally, an experimental test platform is set up whereby a slider–crank mechanism with two clearance joints is used as an example to demonstrate the correctness and effectiveness of the proposed approach. Finally, the effects of joint clearance on the dynamic characteristics of planar multibody systems are investigated.


Multibody Systems Joint clearance Contact force Dynamic characteristics 



This work is supported by the “National Natural Science Foundation of China (Nos. 51605208 and 11902161)”, “Natural Science Foundation of the Jiangsu Higher Education Institutions of China (No. 19KJB460001)” and “The Talent Introduction Foundation of Jiangsu University of Technology (No. KYY18016)”.


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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2020

Authors and Affiliations

  • Yu Chen
    • 1
    • 3
  • Jun Feng
    • 2
    • 3
  • Xu Peng
    • 2
  • Yu Sun
    • 3
  • Qiang He
    • 3
    • 4
    Email author
  • Chengtao Yu
    • 1
  1. 1.School of Mechanical EngineeringJiangsu University of TechnologyChangzhouChina
  2. 2.National Key Laboratory of Transient PhysicsNanjing University of Science and TechnologyNanjingChina
  3. 3.School of Mechanical EngineeringNanjing University of Science and TechnologyNanjingChina
  4. 4.School of Mechanical EngineeringJiangsu University of Science and TechnologyZhenjiangChina

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