Research Papers: Friction and Wear

Three-Dimensional Wear Prediction of Four-Degrees-of-Freedom Parallel Mechanism With Clearance Spherical Joint and Flexible Moving Platform

[+] Author and Article Information
Gengxiang Wang

Faculty of Mechanical and Precision
Instrument Engineering,
Xi'an University of Technology,
P.O. Box 373,
Xi'an 710048, Shaanxi, China
e-mail: wanggengxiang@xaut.edu.cn

Hongzhao Liu

Faculty of Mechanical and Precision
Instrument Engineering,
Xi'an University of Technology,
P.O. Box 373,
Xi'an 710048, Shaanxi, China
e-mail: liu-hongzhao@163.com

1Corresponding author.

Contributed by the Tribology Division of ASME for publication in the JOURNAL OF TRIBOLOGY. Manuscript received August 15, 2017; final manuscript received December 18, 2017; published online January 29, 2018. Assoc. Editor: Wang-Long Li.

J. Tribol 140(3), 031611 (Jan 29, 2018) (14 pages) Paper No: TRIB-17-1318; doi: 10.1115/1.4038806 History: Received August 15, 2017; Revised December 18, 2017

Three-dimensional (3D) wear of the clearance spherical joint in four-degrees-of-freedom (DOF) parallel mechanism is predicted based on Archard's wear model. The flexible moving platform is treated as thin plate element based on absolute nodal coordinate formulation (ANCF). The tangent frame is introduced to formulate the constraint equation of universal joint. One of the spherical joints is treated as clearance joint. The normal and tangential contact forces are calculated based on Flores contact force model and modified Coulomb friction model. In order to predict 3D wear, the normal contact force, tangential contact velocity, and eccentricity vector are decomposed in the global coordinate system. Simulation results show that 3D wear occurred in three directions are not uniform each other.

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Grahic Jump Location
Fig. 1

Four node plate element

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Fig. 2

4-SPS/CU parallel mechanism

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Fig. 3

Contact kinematics of spherical joint with clearance

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Fig. 5

Decomposition of the normal contact force and tangential contact velocity

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Fig. 4

Universal joint between rigid body and flexible body

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Fig. 6

Trajectory of the moving platform around y0-axis

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Fig. 7

3D wear prediction process of clearance spherical joint in 4-SPS/CU parallel mechanism with flexible moving platform

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Fig. 16

Wear along x0-axis considering flexible moving platform

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Fig. 17

Wear along y0-axis considering flexible moving platform

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Fig. 18

Wear along z0-axis considering flexible moving platform

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Fig. 19

3D wear considering flexible moving platform

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Fig. 12

Wear along x0-axis

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Fig. 13

Wear along y0-axis

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Fig. 14

Wear along z0-axis



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