A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint

  • Delun WangEmail author
  • Zhi Wang
  • Huimin Dong
  • Shudong Yu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


A novel spatial mechanism with redundant elastic constraints is presented in this paper to establish a comprehensive model for simulating kinematic characteristics of an actual revolute joint with flexibility and geometric errors. The rigid cam profiles are specified to represent the geometrical errors. Elastic springs are used to simulate the deformations of joint components and their surfaces for the actual machine parts. The proposed RE mechanism, consisting of suspended cams and multiple followers with springs, yields a total of 32 basic equations for displacement analysis. The numerical results obtained using the proposed approach were compared with the experimental data for an example revolute joint; good agreement was achieved for joint kinematic characteristics. The proposed approach provides a new application of the theory of mechanism in comprehensive performance analysis of a complex mechanical system having many components with machining errors.


Elastic constraint Error Mechanism Revolute joint 



The authors acknowledge with appreciation the financial support from the National Natural Science Foundation of China (51275067).


  1. 1.
    Serkow, N.A.: Primary deviations of mechanism links with sliding and revolute pairs. J. Mach. Manufac. Reliab. 40(2), 107–112 (2011)CrossRefGoogle Scholar
  2. 2.
    Joscowicz, L., Sacks, E., Srinivasan, V.: Kinematic tolerance analysis. Comput.-Aided Des. 29(2), 147–157 (1997)CrossRefGoogle Scholar
  3. 3.
    Sadler, J.P., Yang, Zhijia: A comprehensive study of modal characteristics of a cylindrical manipulator with both link and joint flexibility. Mech. Mach. Theory 32(8), 941–956 (1997)CrossRefGoogle Scholar
  4. 4.
    Frisoli, A., Solazzi, M., Pellegrinetti, D., Bergamasco, M.: A new screw theory method for the estimation of position accuracy in spatial parallel manipulators with revolute joint clearances. Mech. Mach. Theory 46(12), 1929–1949 (2011)CrossRefGoogle Scholar
  5. 5.
    Brutti, C., Coglitore, G., Valentini, P.P.: Modeling 3D revolute joint with clearance and contact stiffness. Nonlinear Dyn. 66(4), 531–548 (2011)CrossRefGoogle Scholar
  6. 6.
    Delun, W., Zhi, W., Huimin, D., Shudong, Y., a novel precision-characterization model of a revolute joint based on the concept of spatial mechanisms with redundant elastic constraints. Chinese J. Mech. Eng. (Submitted)Google Scholar
  7. 7.
    Hunt, K.H.: Kinematic Geometry of Mechanisms. Oxford University Press, OxfordGoogle Scholar
  8. 8.
    Harris, T.A.: Rolling Bearing Analysis, 3rd edn. John Wiley and Sons Inc., New York (1990)Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Delun Wang
    • 1
    Email author
  • Zhi Wang
    • 1
  • Huimin Dong
    • 1
  • Shudong Yu
    • 2
    • 3
  1. 1.School of Mechanical EngineeringDalian University of TechnologyDalianChina
  2. 2.Department of Mechanical and Industrial EngineeringRyerson UniversityTorontoCanada
  3. 3.Dalian University of TechnologyDalianChina

Personalised recommendations