Dynamic behaviour analysis of planar mechanical systems with clearance in revolute joints using a new hybrid contact force model

In this study, the dynamic behaviour of planar mechanical systems including revolute joints with clearance is investigated using a computational methodology. The contact model in revolute joint clearance is established using a new nonlinear continuous contact force model, which is a hybrid contact force model, and the friction effect is considered using modified Coulomb friction model. And then, the dynamic characteristics of planar mechanical system with revolute joint clearance are analysed based on the new contact model. Numerical results for two simple planar mechanisms with revolute clearance joints are presented and discussed. The correctness and validity of the new contact force model of revolute joint clearance is verified through the demonstrative application examples. Clearance size and friction effect are analysed separately. The numerical simulation results show that the proposed contact force model is a new method to predict the dynamic behaviour of planar mechanical system with clearance in revolute joints.