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1、DynamicAnalysisofMulti-BodyMechanicalSystemswithImperfectKinematicJoints:ALiteratureSurveyandReviewOnesmusMuvengei,JohnKihiuandBernardIkuaAbstract—Intraditionaldynamicmodelingofmulti-bodymechan-rigid.However,manymulti-bodymechanicalsystemssuchicalsystems,thekinemat
2、icjointsareassumedtobeidealorperfect,asautomotivemechanisms,robots,aircraftmechanismsandi.e.,theclearance,friction,wear,andlubricationeffectsatthejointsearthmovingmachinerieswhichundergolargetranslationandareneglectedinordertosimplifythedynamicmodel.However,inrotat
3、iondisplacementsareeithermademassiveinordertoarealmechanicaljoint,agapisalwayspresenttoallowfortherelativemotionbetweentheconnectedlinksaswellastopermitincreaserigidity,oraredrivenslowlysothatthedynamictheassemblyofcomponents.Studieshaveshownthattheclearances?exibi
4、lityeffectsarenotsigni?cant.Asaresult,morepowerisandthetribologicaleffectsatthejointseriouslyaffectthedynamicneededtodrivethemandsubsequently,lowerworkef?ciencyresponseofmechanicalsystems,andtherefore,propermodelingofisachieved.Insearchforhigheref?ciency,lowcostand
5、theimperfectjointsinmulti-bodymechanicalsystemsisrequiredgreaterproductivityinmachinesandmechanisms,linksoftoachievebetterunderstandingofthedynamicperformanceofthemulti-bodysystems,especiallyatthiseraoftheincreasingdemandlighterweightsarecurrentlybeingdesignedtocar
6、rylargerforhigh-speedandprecisemechanismsandmachines.loads,andtooperateathigherspeeds.TheuseoflightweightInthispaperastateoftheartondynamicmodelingofmulti-materialstoproducethelinksofamulti-bodysystemcanbodymechanicalsystemswithimperfectkinematicjointsiscriticallyr
7、educethedrivingpowerandincreasetheresponsespeed.reviewed.ThegoalistoreviewpastandrecentdevelopmentsHowever,lightmembersaremore?exibleandhencetheandapproachesusedinthecomputer-aidedkinematicanddynamicanalysisofmechanicalsystemswithrealjoints.Suitabilityofvariousstan
8、dardrigidbodymechanismmodelscannolongerbeusedstrategiesemployedincomputationaldynamics,andalsotheinsuf-toaccuratelypredictthebehaviorofthesesyste
