An enhanced formulation to model spatial revolute joints with radial and axial clearances

The primary objective of this work is to present a new formulation to model spatial revolute joints with radial and axial clearances. The methodology developed is based on the relative motion between the journal and bearing elements, which accounts for all the possible contact scenarios within a revolute clearance joint. In this process, normal and tangential contact force models are reexamined to evaluate their suitability to represent the contact-impact interactions between the mechanical parts connected by clearance joints. Also the equations of motion that govern the dynamic response of multibody systems and incorporate the intra-joint contact forces are presented. The Newton-Euler approach is applied here for these procedures. Finally, several numerical examples of the application are presented to discuss the main assumptions and procedures adopted in this work. The obtained results show that the clearance in mechanical joints can be quite significant in terms of the dynamic response of the system, and, consequently, plays a crucial role in the analysis, design and control of multibody systems.