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Research Papers: Friction and Wear

Wear Analysis of Spatial Parallel Mechanisms With Multiple Three-Dimensional Spherical Clearance Joints

[+] Author and Article Information
Chen Xiulong

College of Mechanical and Electronic Engineering,
Shandong University of Science and Technology,
Qingdao 266590, China
e-mail: cxldy99@163.com

Jia Yonghao

College of Mechanical and Electronic Engineering,
Shandong University of Science and Technology,
Qingdao 266590, China
e-mail: jiayonghao@sdust.edu.cn

1Corresponding author.

Contributed by the Tribology Division of ASME for publication in the Journal of Tribology. Manuscript received May 2, 2019; final manuscript received July 5, 2019; published online August 1, 2019. Assoc. Editor: Longqiu Li.

J. Tribol 141(10), (Aug 01, 2019) (13 pages) Paper No: TRIB-19-1194; doi: 10.1115/1.4044295 History: Received May 02, 2019; Accepted July 05, 2019

The goal of this work is to investigate the dynamic responses of the parallel mechanism with irregular clearances caused by wear and to further reveal the influences of multiple clearance interaction on wear. The motion model and the force model of spherical clearance joint based on a continuous contact force model and a static friction model are established. The dynamic equation of the spatial parallel mechanism considering two spherical clearance joints is derived. A general wear analysis strategy to establish spherical clearance joint with sustainable updation of the surface profile is presented, and the dynamic responses of parallel mechanism after wear are studied. The interaction between two wear joints with different initial clearance values is further investigated. The results show that it is necessary to consider the factor of irregular clearances caused by wear in the analysis of dynamics behavior for precision mechanisms. Proper distribution of clearance values can reduce wear of clearance joint and improve the useful life of mechanism to a certain extent. This work provides a foundation for life prediction and reliability analysis of parallel mechanisms.

Copyright © 2019 by ASME
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Figures

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Fig. 1

General representation of spherical clearance joint

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Fig. 2

Spatial spherical joint with clearance in multibody systems

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Fig. 3

Configuration of 4-UPS/RPS PM

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Fig. 4

Configuration of general idea joint: (a) universal joint, (b) prismatic joint, (c) revolute joint, and (d) spherical joint

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Fig. 5

The discrete surface

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Fig. 7

The computational strategy for dynamic analysis and wear prediction

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Fig. 8

Wear of spherical clearance joint S2 with no-load: (a) profile of the reference socket after wear and (b) distribution of wear

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Fig. 9

Wear of spherical clearance joint S5 with no-load: (a) profile of the reference socket after wear and (b) distribution of wear

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Fig. 10

Dynamic responses of the 4-UPS/RPS PM with no-load: (a) X-displacement, (b) Y-displacement, (c) Z-displacement, (d) X-velocity, (e) Y-velocity, (f) Z-velocity, (g) X-acceleration, (h) Y-acceleration, and (i) Z-acceleration

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Fig. 11

The contact force: (a) spherical joint S2 and (b) spherical joint S5

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Fig. 12

The center trajectory diagram: (a) spherical joint S2, (b) movement trajectory of S2, (c) spherical joint S5, and (d) movement trajectory of S5

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Fig. 13

Wear of spherical clearance joints with 2 kg load: (a) distribution of wear of spherical clearance joint S2 and (b) distribution of wear of spherical clearance joint S5

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Fig. 14

Dynamic responses of the 4-UPS/RPS PM with 2 kg load: (a) X-displacement, (b) Y-displacement, (c) Z-displacement, (d) X-velocity, (e) Y-velocity, (f) Z-velocity, (g) X-acceleration, (h) Y-acceleration, and (i) Z-acceleration

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Fig. 15

The contact force: (a) spherical joint S2 and (b) spherical joint S5

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Fig. 16

The center trajectory diagram: (a) spherical joint S2, (b) movement trajectory of S2, (c) spherical joint S5, and (d) movement trajectory of S5

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Fig. 17

Wear volume of socket 2: (a) 3D diagram and (b) top view

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Fig. 18

Wear volume of socket 5: (a) 3D diagram and (b) top view

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