关键词: 平面间隙, 空间间隙, 碰撞模型, 赫兹接触, 库仑摩擦

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