Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alshaer BJ, Lankarani HM, Shivaswamy S (2001) Dynamics of a multibody mechanical system with lubricated long journal bearings. Proceedings of DETC’01, ASME 2001 design engineering technical conferences and computers and information in engineering conference, Pittsburg, PA, September 9–12, 6pp.
Ambrósio J (2000) Rigid and flexible multibody dynamics tools for the simulation of systems subjected to contact and impact conditions. European Journal of Solids A/Solids 19: S23–44.
Ambrósio J, Pereira MS (2003) Desenvolvimentos recentes no cálculo automático de sistemas mecânicos: teoria a aplicação. Proceedings of VI Congresso Ibero-Americano de Engenharia Mecânica—CIBEM6, Departamento de Engenharia Mecânica, Universidade de Coimbra, Coimbra, edited by AM Dias, Vol. I, pp. 1–20.
Amirouche FML (1992) Computational methods for multibody dynamics. Prentice Hall, Englewood Cliffs, NJ.
Bahgat BM, Osman MOM, Sankar TS (1979) On the effect of bearing clearances in the dynamic analysis of planar mechanisms. Journal of Mechanical Engineering Science 21(6):429–437.
Baraff D (1989) Curves surfaces and coherence for non-penetrating rigid body simulation. Computer Graphics 24:19–28.
Bauchau OA, Rodriguez J (2002) Modelling of joints with clearance in flexible multibody systems. International Journal of Solids and Structures 39:41–63.
Bauchau OA, Rodriguez J, Bottasso CJ (2001) Modelling of unilateral contact conditions with application to aerospace systems involving blacklash, freeplay and friction. Mechanics Research Communication 28:571–599.
Baumgarte J (1972) Stabilization of constraints and integrals of motion in dynamical systems. Computer Methods in Applied Mechanics and Engineering 1:1–16.
Bayo E, Garcia de Jálon J, Serna A (1988) A modified Lagrangian formulation for the dynamic analysis of constrained mechanical systems. Computer Methods in Applied Mechanics and Engineering 71:183–195.
Bengisu MT, Hidayetoglu T, Akay A (1986) A theoretical and experimental investigation of contact loss in the clearances of a four-bar mechanism. Journal of Mechanisms, Transmissions, and Automation in Design 108:237–244.
Brach RM (1991) Mechanical impact dynamics, rigid body collisions. Wiley, New York.
Brenan KE, Campbell SL, Petzold LR (1989) The numerical solution of initial value problems in differential-algebraic equations. North-Holland, New York.
Brogliato B, Ten Dam AA, Paoli L, Genot F, Abadie M (2002) Numerical simulations of finite dimensional multibody nonsmooth mechanical systems. Applied Mechanics 55:107–150.
Chace MA (1963) Vector analysis of linkages. Journal of Engineering for Industry, Series B 55(3):289–297.
Chace MA (1964) Development and application of vector mathematics for kinematic analysis of three dimensional mechanisms. Ph.D. Dissertation, University of Michigan, Michigan.
Chace MA (1967) Analysis of the time-dependence of multi-freedom mechanical systems in relative coordinates. Journal of Engineering for Industry 89:119–125.
Chace MA (1978) Using DRAM and ADAMS programs to simulate machinery vehicles. Agricultural Engineering 59(11):16–18.
Claro JCP, Fernandes JPF (2002) Influência da modelização das juntas na análise do desempenho de um mecanismo. 8as Jornadas Portuguesas de Tribologia, Universidade de Aveiro, Aveiro, May 8–9, edited by J Grácio, P Davim, QH Fan and N Ali, pp. 215–219.
Crossley FE (1988) Recollections from forty years of teaching mechanisms. Journal of Mechanisms, Transmissions, and Automation in Design 110:232–242.
Deck JF, Dubowsky S (1994) On the limitations of predictions of the dynamic response of machines with clearance connections. Journal of Mechanical Design 116:833–841.
Dubowsky S (1974a) On predicting the dynamic effects of clearances in planar mechanisms. Journal of Engineering for Industry, Series B 96(1):317–323.
Dubowsky S (1974b) On predicting the dynamic effects of clearances in one-dimensional closed loop systems. Journal of Engineering for Industry, Series B 96(1): 324–329.
Dubowsky S, Freudenstein F (1971a) Dynamic analysis of mechanical systems with clearances, part 1: formulation of dynamic model. Journal of Engineering for Industry, Series B 93(1):305–309.
Dubowsky S, Freudenstein F (1971b) Dynamic analysis of mechanical systems with clearances, part 2: dynamic response. Journal of Engineering for Industry, Series B 93(1):310–316.
Dubowsky S, Gardner TN (1977) Design and analysis of multilink flexible mechanism with multiple clearance connections. Journal of Engineering for Industry, Series B 99(1):88–96.
Dubowsky S, Moening MF (1978) An experimental and analytical study of impact forces in elastic mechanical systems with clearances. Mechanism and Machine Theory 13:451–465.
Dubowsky S, Gu PY, Deck JF (1991) The dynamic analysis of flexibility in mobile robotic manipulator systems. Proceedings of VIII world congress on the theory of machines and mechanisms, Prague, Czechoslovakia, August 26–31, 12pp.
Earles SWE, Wu CLS (1973) Motion analysis of a rigid link mechanism with clearance at a bearing using lagrangian mechanics and digital computation. Mechanisms 83–89.
Earles SWE, Wu CLS (1975) Predicting the occurrence of contact loss and impact at the bearing from a zero-clearance analysis. Proceedings of IFToMM fourth world congress on the theory of machines and mechanisms, Newcastle Upon Tyne, England, pp. 1013–1018.
Erdman AG (1985) Computer-aided design of mechanisms: 1984 and beyond. Mechanism and Machine Theory 20(4):245–249.
Erdman AG (1995) Computer-aided mechanism design: now and the future—50th anniversary of the Design Engineering Division Combined Issue. Journal of Mechanical Design 117(B):93–100.
Erdman AG, Gustafson, JE (1977) LINCAGES: Linkage INteractive Computer Analysis and Graphically Enhanced Synthesis package. ASME paper No. 77 DTC-5.
ESDU 78035 Tribology Series (1978) Contact phenomena. I: stresses, deflections and contact dimensions for normally loaded unlubricated elastic components. Engineering Sciences Data Unit, London, England.
Farahanchi F, Shaw SW (1994) Chaotic and periodic dynamics of a slider crank mechanism with slider clearance. Journal of Sound and Vibration 177(3):307–324.
Feng B, Morita N, Torii T (2002) A new optimization method for dynamic design of planar linkage with clearances at joints—optimizing the mass distribution of links to reduce the change of joint forces. Journal of Mechanical Design 124:68–73.
Flores P (2005) Dynamic analysis of mechanical systems with imperfect kinematic joints. Ph.D. Dissertation, Universidade do Minho, Guimarães, Portugal.
Flores P, Ambrósio J (2004) Revolute joints with clearance in multibody systems. Computers and Structures, Special Issue: Computational Mechanics in Portugal 82(17–18):1359–1369.
Flores P, Ambrósio J, Claro JP (2003) Dynamic analysis for planar multibody mechanical systems with real joints. Proceedings of ECCOMAS multibody dynamics 2003, International conference on advances in computational multibody dynamics 2003, Lisbon, Portugal, July 1–4, edited by JAC Ambrósio, 26pp.
Flores P, Ambrósio J, Claro JCP, Lankarani HM, Koshy CS (2006) A study on dynamics of mechanical systems including joints with clearance and lubrication. Mechanism and Machine Theory 41(3):247–261.
Garcia de Jálon J, Bayo E (1994) Kinematic and dynamic simulations of multibody systems. Springer, Berlin Heidelberg New York.
García Orden JC, Romero I, Goicolea JM (2003) Analysis of joint clearances in multibody systems. Proceedings of ECCOMAS multibody dynamics 2003, International conference on advances in computational multibody dynamics 2003, Lisbon, Portugal, July 1–4, edited by JAC Ambrósio, 9pp.
Gear CW (1981) Numerical solution of differential-algebraic equations. IEEE Transactions on Circuit Theory CT-18:89–95.
Géradin M, Cardona A (1989) Kinematics and dynamics of rigid and flexible mechanisms using finite elements and quaternion algebra. Computational Mechanics 4:115–135.
Gilardi G, Sharf I (2002) Literature survey of contact dynamics modeling. Mechanism and Machine Theory 37:1213–1239.
Glocker C (1999) Formulation of spatial contact situations in rigid multibody systems. Computer Methods in Applied Mechanies and Engineering 177:199–214.
Glocker C (2001) Set-valued force laws—dynamics of non-smooth systems. Springer, Berlin Heidelberg New York.
Gonçalves J (2002) Rigid and flexible multibody systems optimization for vehicle dynamics. Ph.D. Dissertation, Universidade Técnica de Lisboa, Instituto Superior Técnico, Lisbon, Portugal.
Gonçalves J, Ambrósio J (2000) Advanced modeling of flexible multibody systems using virtual bodies. NATO ARW on computational aspects of nonlinear structural systems with large rigid body motion, edited by J. Ambrósio and M. Kleiber. IOS Press, The Netherlands.
Goodman TP (1963) Dynamic effects of backlash. Machine Design 35:150–157.
Grant SJ, Fawcett JN (1979) Effects of clearance at the coupler-rocker bearing of a 4-bar linkage. Mechanism and Machine Theory 14:99–110.
Haines RS (1980a) Survey: 2-dimensional motion and impact at revolute joints. Mechanism and Machine Theory 15:361–370.
Haines RS (1980b) A theory of contact loss at resolute joints with clearance. Proceedings of Institution of Mechanical Engineers, Journal of Mechanical Engineering Science 22(3):129–136.
Haines RS (1985) An experimental investigation into the dynamic behaviour of revolute joints with varying degrees of clearance. Mechanism and Machine Theory 20(3):221–231.
Han I, Gilmore BJ (1993) Multi body impact motion with friction analysis, simulation, and validation. Journal of Mechanical Design 115:412–422.
Haug EJ (1989) Computer-aided kinematics and dynamics of mechanical systems. Volume I: basic methods. Allyn and Bacon, Boston, MA.
Haug EJ, Wehage RA, Barman NC (1982) Dynamic analysis and design of constrained mechanical systems. Journal of Mechanical Design 104:778–784.
Haug EJ, Wu SC, Yang SM (1986) Dynamics of mechanical systems with Coulomb friction, stiction, impact and constraint addition deletion—I theory. Mechanism and Machine Theory 21(5):401–406.
Hunt KH, Crossley FR (1975) Coefficient of restitution interpreted as damping in vibroimpact. Journal of Applied Mechanics 7:440–445.
Hurmuzlu Y, Marghitu DB (1994) Rigid body collision of planar kinematic chain with multiple contact points. The International Journal of Robotics Research 13:82–89.
Huston RL (1990) Multibody dynamics. Butterworth-Heinemann, Boston, MA.
Huston RL (1991) Multibody dynamics—modeling and analysis methods. Applied Mechanics Review 44(3):109–117.
Innocenti C (2002) Kinematic clearance sensitivity analysis of spatial structures with revolute joints. Journal of Mechanical Design 124:52–57.
Jiménez JM, Avello A, García-Alonso A, Garcia de Jálon J (1990) COMPAMM—a simple and efficient code for kinematic and dynamic numerical simulation of 3-D multibody system with realistic graphics. Multibody systems handbook. Springer, Berlin Heidelberg New York.
Johnson KL (1999) Contact mechanics. Cambridge University Press, Cambridge.
Kakizaki T, Deck JF, Dubowsky S (1993) Modeling the spatial dynamics of robotic manipulators with flexible links and joint clearances. Journal of Mechanical Design 115:839–847.
Kane TR (1984) A dynamic puzzle. Stanford Mechanics Alumni Club Newsletter, p. 6.
Kane TR, Levinson DA (1985) Dynamics: theory and applications. McGraw-Hill, New York.
Kaufman RE (1978) Mechanism design by computer. Machine Design 50(24):94–100.
Keller JB (1986) Impact with friction. Journal of Applied Mechanics 53:1–4.
Khulief YA, Shabana AA (1986) Dynamic analysis of constrained system of rigid and flexible bodies with intermittent motion. Journal of Mechanisms, Transmissions, and Automation in Design 108:38–45.
Khulief YA, Shabana AA (1987) A continuous force model for the impact analysis of flexible multibody systems. Mechanism and Machine Theory 22(3):213–224.
Kilmister N, Reeve JE (1966) Rotational mechanics. Longmans, London.
Kreuzer E (1979) Symbolische Berechnung der Bewegungsgleichungen von Mehrkörpersystemem. Number 32 Fortschritt-Berichte VDI, Reihe 11. VDI Verlag, Düsseldorf, Deutschland.
Lankarani HM (1988) Canonical equations of motion and estimation of parameters in the analysis of impact problems. Ph.D. Dissertation, University of Arizona, Tucson, AZ.
Lankarani HM, Nikravesh PE (1990) A contact force model with hysteresis damping for impact analysis of multibody systems. Journal of Mechanical Design 112:369–376.
Lee TW, Wang AC (1983) On the dynamics of intermittent-motion mechanisms. Part 1—dynamic model and response. Journal of Mechanisms, Transmissions, and Automation in Design 105:534–540.
Liu TS, Lin YS (1990) Analysis of flexible linkages with lubricated joints. Journal of Sound and Vibration 141(2):193–205.
Lötstedt P (1982) Mechanical systems of rigid bodies subjected to unilateral constraints. Computer Graphics 23:223–232.
Mahrus D (1974) Experimental investigation into journal bearing performance. Revista Brasileira de Tecnologia 5(3–4):139–152.
Martin GH (1982) Kinematics and dynamics of machines. McGraw-Hill, New York.
Maw N, Barber JR, Fawcett JN (1976) The oblique impact of elastic spheres. Wear 101–114.
Miedema B, Mansour WM (1976) Mechanical joints with clearance: a three mode model. Journal of Engineering for Industry 98(4):1319–1323.
Moes H, Sikkes EG, Bosma R (1986) Mobility and impedance tensor methods for full and partial-arc journal bearings. Journal of Tribology 108:612–620.
Moreau JJ (1988) Unilateral contact and dry friction in finite freedom dynamics. Non-smooth mechanics and applications, CISM courses and lectures, edited by JJ Moreau and PP Panagiotopoulos, Vol. 302, pp. 1–82. Springer, Berlin Heidelberg New York.
Neto MA, Ambrósio J (2003) Stabilization methods for the integration of DAE in the presence of redundant constraints. Multibody System Dynamics 10:81–105.
Newton I (1686) Philosophia naturalis principia mathematica. S. Pepsy, Reg. Soc, London.
Nikravesh PE (1988) Computer-aided analysis of mechanical systems. Prentice Hall, Englewood Cliffs, NJ.
Norton RL, Ault HK, Wiley J, Parks T, Calawa R, Wickstrand M (1994) Bearing forces as function of mechanical stiffness and vibration isolation in a four bar linkage. ASTM Special Technical Publication Proceedings of the symposium on effects of mechanical stiffness and vibration on wear Nr 1247, Montreal, Canada.
Orlandea N, Chace MA, Calahan DA (1977) A sparsity oriented approach to the dynamic analysis and design of mechanical systems—parts 1 and 2. Journal of Engineering for Industry 99:773–784.
Painlevé P (1905) Sur les lois de frottement de glissement. Comptes Rendus de l’Academie des Sciences Paris 121:112–115; 141:401–405; 141:546–552.
Pang JS, Cottle RW, Stone RE (1992) The linear complementary problem. Academic Press, Boston, MA.
Paul B, Krajcinovic D (1970) Computer analysis of machines with planar motion, part 1—kinematics, part 2—dynamics. Journal of Applied Mechanics 37:697–712.
Pfeiffer F (1999) Unilateral problems of dynamics. Archive of Applied Mechanics 69:503–527.
Pfeifer F, Glocker C (1996) Multibody dynamics with unilateral constraints. Wiley, New York.
Pinkus O, Sternlicht SA (1961) Theory of hydrodynamic lubrication. McGraw-Hill, New York.
Pombo JCEJ (2004) A multibody methodology for railway dynamics applications. Ph.D. Dissertation, Universidade Técnica de Lisboa, Instituto Superior Técnico, Lisbon, Portugal.
Rahnejat H (2000) Multi-body dynamics: historical evolution and application. Proceedings of the Institution of Mechanical Engineers, Journal of Mechanical Engineering Science 214(C):149–173.
Ravn P (1998) A continuous analysis method for planar multibody systems with joint clearance. Multibody System Dynamics 2:1–24.
RecurDyn (2006) RecurDyn version 6.3, Release notes. Functionbay, Inc.
Reuleaux F (1963) The kinematics of machinery. Dover, New York.
Rhee J, Akay A (1996) Dynamic response of a revolute joint with clearance. Mechanism and Machine Theory 31(1):121–124.
Rockafellar RT (1972) Convex analysis. Princeton University Press, New Jersey.
Roger RJ, Andrews GC (1977) Dynamic simulation of planar mechanical systems with lubricated bearing clearances using vector-network methods. Journal of Engineering for Industry 99(1):131–137.
Rosenberg RM (1977) Analytical dynamics of discrete systems. Plenum Press, New York.
Routh ET (1905) Dynamics of a system of rigid bodies. Macmillan, London.
Rubel AJ, Kaufman RE (1977) KINSYN III: a new human-engineering system for interactive computer-aided design of planar linkages. Journal of Engineering for Industry, Series B 99(2):440–448.
Rulka W (1990) SIMPACK—a computer program for simulation of large motion multibody systems. Multibody systems handbook, edited by W Schichlen, pp. 265–284. Springer, Berlin Heidelberg New York.
Ryan RR (1990) ADAMS—multibody system analysis software. Multibody systems handbook. Springer, Berlin Heidelberg New York.
Schiehlen W (1990) Multibody systems handbook. Springer, Berlin Heidelberg New York.
Schiehlen W (1997) Multibody system dynamics: roots and perspectives. Multibody System Dynamics 1:149–188.
Schwab AL (2002) Dynamics of flexible multibody systems, small vibrations superimposed on a general rigid body motion. Ph.D. Dissertation, Delft University of Technology, The Netherlands.
Seneviratne LD, Earles SWE (1992) Chaotic behaviour exhibited during contact loss in a clearance joint in a four-bar mechanism. Mechanism and Machine Theory 27(3):307–321.
Shabana AA (1997) Flexible multibody dynamics: review of past and recent developments. Multibody System Dynamics 1:189–222.
Shabana AA (1989) Dynamics of multibody systems. Wiley, New York.
Shampine L, Gordon M (1975) Computer solution of ordinary differential equations: the initial value problem. Freeman, San Francisco, CA.
Sheth PN, Uicker JJ (1971) IMP (Integrated Mechanism Program): a computer-aided design analysis system for mechanisms and linkages. Journal of Engineering for Industry, Series B 94(2):454–464.
Shigley JE, Uicker JJ (1995) Theory of machines and mechanisms. McGraw-Hill, New York.
Smith CE (1991) Predicting rebounds using rigid-body dynamics. Journal of Applied Mechanics 58:754–758.
Soong K (1988) An analytical and experimental study of the elastodynamic response characteristics of planar linkage mechanism with bearing clearances. Ph.D. Dissertation, Michigan State University, Flint.
Soong K, Thompson BS (1990) A theoretical and experimental investigation of the dynamic response of a slider–crank mechanism with radial clearance in the gudgeon–pin joint. Journal of Mechanical Design 112:183–189.
Stronge WJ (1991) Unraveling paradoxical theories for rigid body collisions. Journal of Applied Mechanics 58:1049–1055.
Stronge WJ (2000) Impact mechanics. Cambridge University Press, Cambridge.
Timoshenko SP, Goodier JN (1970) Theory of elasticity. McGraw-Hill, New York.
TNO (1998) MADYMO Theoretical manual, Version 5.3. TNO, Delft, The Netherlands.
Townsend MA, Mansour WM (1975) A pendulating model for mechanisms with clearances in the revolutes. Journal of Engineering for Industry, Series B 97(2):354–358.
Trinkle JC (2003) Formulation of multibody dynamics as complementary problems. Proceedings of 2003 ASME design engineering technical conferences, Chicago, IL, pp. 361–370.
Uicker JJ (1969) Dynamic behavior of spatial linkages, part 1—exact equations of motion, part 2—small oscillations about equilibrium. Journal of Engineering for Industry 91:251–265.
Wang Y, Mason MT (1992) Two dimensional rigid-body collisions with friction. Journal of Applied Mechanics 59:635–642.
Whittaker ET (1904) A treatise on the analytical dynamics of particles and rigid bodies. Cambridge University Press, Cambridge.
Wilson R, Fawcett JN (1974) Dynamics of slider–crank mechanism with clearance in the sliding bearing. Mechanism and Machine Theory 9:61–80.
Winfrey RC, Anderson RV, Gnilka CW (1973) Analysis of elastic machinery with clearances. Journal of Engineers for Industry 95:695–703.
Wittenburg J (1977) Dynamics of systems of rigid bodies. B.G. Teubner, Stuttgart, Germany.
Wu CLS, Earles SWE (1977) A determination of contact-loss at a bearing of a linkage mechanism. Journal of Engineering for Industry, Series B 99(2): 375–380.
Zukas JA, Nicholas T, Greszczuk LB, Curran DR (1982) Impact dynamics. Wiley, New York.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Flores, P., Ambrósio, J., Claro, J.P., Lankarani, H.M. (2008). Introduction. In: Kinematics and Dynamics of Multibody Systems with Imperfect Joints. Lecture Notes in Applied and Computational Mechanics, vol 34. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74361-3_1
Download citation
DOI: https://doi.org/10.1007/978-3-540-74361-3_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74359-0
Online ISBN: 978-3-540-74361-3
eBook Packages: EngineeringEngineering (R0)