Nonlinear Dynamics

, Volume 66, Issue 4, pp 531–548 | Cite as

Modeling 3D revolute joint with clearance and contact stiffness

  • Carlo Brutti
  • Giulio Coglitore
  • Pier Paolo Valentini
Original Paper


The clearances in the kinematic joints are due to deformations, wear, and manufacturing errors; the accurate modeling of these effects in multibody analysis is a complex issue but in many practical applications, it is mandatory to take into them into account in order to understand the actual behavior of mechanical systems. In this paper, the authors present a general computer-aided model of a 3D revolute joint with clearance suitable for implementation in multibody dynamic solvers. While a perfect revolute joint imposes kinematic constraints, the proposed revolute joint with clearance leads to a force constraint. The revolute joint has been modeled by introducing a nonlinear equivalent force system, which takes into account the contact elastic deformations. The model depends on the structural and geometrical properties of materials in contact that have been investigated using finite element models. The purpose is to give a general approach to study the influence of actual joints on kinematic, dynamic, and structural behavior of mechanisms. The proposed model has been applied in dynamic simulations of a spatial slider-crank mechanism.


Multibody dynamics Clearance Real joint Contact dynamics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Dubowsky, S.: On predicting the dynamic effects of clearances in planar mechanisms. J. Eng. Ind. 96(1), 317–323 (1974) CrossRefGoogle Scholar
  2. 2.
    Ravn, P.: A continuous analysis method for planar multibody systems with joint clearance. Multibody Syst. Dyn. 2, 1–24 (1998) MATHCrossRefGoogle Scholar
  3. 3.
    Flores, P., Ambrosio, J., Pimenta Claro, J.: Dynamic analysis for planar multibody mechanical systems with lubricated joints. Multibody Syst. Dyn. 12, 47–74 (2004) MATHCrossRefGoogle Scholar
  4. 4.
    García Orden, J.C.: Analysis of joint clearances in multibody systems. Multibody Syst. Dyn. 13, 401–420 (2005) MathSciNetMATHCrossRefGoogle Scholar
  5. 5.
    Flores, P.: Modeling and simulation of wear in revolute clearance joints in multibody systems. Mech. Mach. Theory 44, 1211–1222 (2008) CrossRefGoogle Scholar
  6. 6.
    Liu, C.S., Zhang, K., Yang, R.: The FEM analysis and approximate model for cylindrical joints with clearances. Mech. Mach. Theory 42, 183–197 (2006) CrossRefGoogle Scholar
  7. 7.
    Ali, M., Shakoor, M., Flugrad, D., Qamhiyah, A.: Contact stresses in conical rollers. J. Strain Anal. 42, 595–604 (2007) CrossRefGoogle Scholar
  8. 8.
    Valentini, P.P., Stefanelli, R., Vita, L.: Modelling of hydrodynamic journal bearing in spatial multibody systems. In: 2005 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA (2005) Google Scholar
  9. 9.
    Pezzuti, E., Stefanelli, R., Valentini, P.P., Vita, L.: Computer-aided simulation and testing of spatial linkages with joint mechanical errors. Int. J. Numer. Methods Eng. 65, 1735–1748 (2006) MATHCrossRefGoogle Scholar
  10. 10.
    Haug, E.J.: Computer-Aided Kinematics and Dynamics of Mechanical Systems, vol. 1, pp. 48–104. Allyn and Bacon, Needham Heights (1988) Google Scholar
  11. 11.
    Roark, R.J., Young, W.C.: Formulas for Stress and Strain. McGraw-Hill, New York (1989) Google Scholar
  12. 12.
    Solidworks Simulation Non-Linear, Training manual. Solidworks Corporation, Santa Monica (2009) Google Scholar

Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Carlo Brutti
    • 1
  • Giulio Coglitore
    • 1
  • Pier Paolo Valentini
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of Rome “Tor Vergata”RomeItaly

Personalised recommendations