Abstract: This paper is focused on the modeling of revolute joints with spatial clearance based on Hertz contact theory and Coulomb's friction law. The effects of friction, damping and link flexibility on the system dynamic responses are considered. Two mass points are approximately taken for the contact points. The authors consider the real potential contact points on the boundary of the bodies. Kinetic relationship between two potential contact points is obtained through the geometric relations between the two moving bodies. An example demonstrates the reliability of the proposed method. Different clearance size, friction coefficient, damping and flexible coefficient are given to the model.

Key words: planar joint clearance, spatial joint clearance, contact model, Hertz theory, Coulomb's friction

摘要： 含关节间隙的多体系统动力学精细的仿真计算必须依赖于对关节处2相对运动体的运动学描述。针对工程中常见的圆柱铰关节，建立了识别间隙铰处碰撞接触模式的运动学关系。该运动学关系直接基于间隙铰关节的几何构形来确定运动过程中潜在碰撞接触点对之间的最小距离，避免了一般多体系统确定碰撞接触点的搜索过程。基于Hertz接触刚度并考虑阻尼效应的影响建立法向接触模型，采用修正的库仑模型考虑关节处的摩擦作用。针对一曲柄机构进行了仿真计算，研究了空间间隙、摩擦系数、杆件的柔性等因素对系统动力学特性带来的影响。

关键词: 平面间隙, 空间间隙, 碰撞模型, 赫兹接触, 库仑摩擦