Analysis of rigid dynamic of a spatial slider-crank mechanism with spherical

clearance joints using ANSYS Software

Huynh Ngoc Thai, SHYH-CHOUR HUANG
Abstract
This paper presents the kinematic and dynamics analysis of a spatial slider crank mechanism with spherical joints.
The spatial slider crank mechanism is simulated in ANSYS software to observe the response of the slider block and
the reaction force at joints R1, R2, R3, R4 include a revolute joint between base block and crank, a spherical joint
between crank and connecting rob, a spherical joint between connecting rob and slider, translation joint between
slider and base block, proportionally. The dynamics analysis has been performed by applying rotational motion at
joint R1 with angular of velocity 5 rad/s, 10 rad/s to perform dynamics analysis. These simulations were performed
with different time steps and durations. The coefficient friction at R4 equal to 0.1.
1.

Introduction

The dynamic responses of multibody system with joint clearances have been studied by many researchers over
the last few decades [1-9]. Clearances are unavoidable due to manufacturing tolerances, wear or material
deformation, leading to important deviations between the ideal behavior and real outcome of the mechanism. The
existence of joint clearances also causes vibration, noise and wear, decreasing the service life or even leading to
failure of the mechanism. The requirement of predicting the system dynamics accurately is increasing necessary
with the development of precision mechanical engineering, and the presence and treatment of joint clearances is a
key issue to be resolved. Effects of clearances on the kinematics of mechanism have been studied theoretically by
many researchers.
The slider-crank mechanism is considered as one of the most used systems in the mechanical field [10]. It is
found in pumps, compressors, steam engines, feeders, crushers, punches and injectors. Furthermore, the slider-crank
mechanism is central to diesel and gasoline internal combustion engines, which play an indispensable role in
modern living. It mainly consists of crank, slider block and connecting rod. It works on the principle of converting
the rotational motion of crank to the translational motion of slider block. The simulation of slider-crank mechanism
has been frequently studied for several years. Erkaya performed the kinematic and dynamic analysis of a modified
slidercrank mechanism characterized by an additional eccentric link between connecting rod and crank pin [11].
Fung presented the kinematic and dynamic analyses of the intermittent slider crank mechanism. The connecting
rod is connected with a pneumatic cylinder and a spring model [12].
2.

Dynamics modeling of a spatial slider-crank mechanism with clearance spherical joints

Fig. 1 shows spatial slider-crank mechanism with clearance spherical joints that has four links and are
connected to each other by joints.

Fig.1 Space slider-crank

mmmmmmmmmmechanissmmechanis

Fig. 2. (a) Representation of a spherical joint

with clearance, (b) relative penetration
between the ball and socket.
Table 1 Description of links
Object name
Length X (mm)
Length Y (mm)
Length Z (mm)
Volume (mm3)
Mass (Kg)

Connecting rob
282.89
55.259
70.318
62404
0.48987

Base Block
400
230
200
..
..

Crank
40
143.74
89.137
1.2759*105
1.0015

Slider
100
110
120
5.0147*105
3.9365

Moment of inertia lp1 (Kg.mm2)

Moment of inertia lp2 (Kg.mm2)
Moment of inertia lp3 (Kg.mm2)
3.

4514.5
4514.6
25.825

..
.
..

1326
240.27
1404.8

4895
5835.9
4687

Equation of motion
According to [1,9], the dynamics equation of a system subjected to constraints can be stated in form

(1)

4.

Result and discussion

In this study, 5 rad/s, 10rad/s angular rotation was applied revolute joint. By arranging the ball and socket radii
as 14.5mm and 15mm, respectively, spherical joint with 0.5 mm clearance was considered in the model
mechanisms.
Simulation and validate dynamics behaviour analysis of slider-crank mechanism in space with spherical joints
clearance.

Fig.2: Total Deformation of slider

Fig.3 Total Velocity of Slider

Fig.4 Total acceleration of Slider

Fig5. Position of Slider

Fig6. Angular Velocity of Connecting rob

Fig.7 Angular acceleration of connecting rob

Fig. 8 Reaction force of Translational joint

Fig.9 Reaction force at Revolute joint

Fig.10 Reaction force at Spherical joint (Slider-connecting rob)

Fig.11. Reaction force at Spherical joint (Crank-connecting rob)

5.

Conclusion

It can be concluded that the system response substantially changes when the joints clearance is introduced in a space
slidercrank mechanism. These changes are mainly due to impacts and rebounds between the journal and the
bearing in the clearance joint that cause shocks and vibrations in the mechanism. In this paper, an optimization
algorithm has been introduced to perform the dynamic synthesis of a planar slidercrank mechanism in the presence

of clearance in the spherical joints between the crank and connecting rod and between the slider and the connecting
rod.
Reference
[1] Bo Zhao, A new numerical method for piston dynamics and lubrication analysis. Tribology International 94
(2016) 395408.
[2] Dynamics analysis of space robot manipulator with joint clearance. Acta Astronautica 68 (2011) 11471155
[3] Analysis of the dynamics of a slidercrank mechanism with hydrodynamic lubrication in the connecting rod
slider joint clearance. Mechanism and Machine Theory 46 (2011) 14341452.
[4] Numerical study of parametric effects on the dynamic response of planar multi-body systems with differently
located frictionless revolute clearance joints. Mechanism and Machine Theory 53 (2012) 3049.
[5] Dynamic response simulation and experiment for gamma-type Stirling engine. Renewable Energy 86 (2016)
192e205.
[6] Optimal dynamic design of a planar slider-crank mechanism with a joint clearance. Mechanism and Machine
Theory 86 (2015) 191200.
[7] Analysis of the joint clearance effects on a compliant spatial mechanism. Mechanism and Machine Theory 104
(2016) 255273.
[8] Effects of joint clearance on the dynamics of a partly compliant mechanism: Numerical and experimental
studies. Mechanism and Machine Theory 88 (2015) 125140.
[9] Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints. Mechanism and Machine
Theory 78 (2014) 105115
[10] T.W.Ng. A slider-crank experiment to determine the action of static forces. International Journal of Mechanical
Engineering Educat ionVolume 31 Number 4 October 2003.
[11] Seluk Erkaya, Skr Su, and Ibrahim Uzmay. Dynamic analysis of aslidercrank mechanism with eccentric
connector and planetary gears. Mechanism and Machine Theory 42 (2007) 393408.
[12] Rong-Fong Fung, Chin-Lung Chiang and Shin-Jen Chen. Dynamic modelling of an intermittent slider-crank
mechanism. Applied mathematical modelling 33 (2009) 2411-2420.