Modeling and Analysis of Spatial Flexible Mechanical Systems With a Spherical Clearance Joint Based on the LuGre Friction Model

摘要

A computational methodology for modeling spatial flexible mechanical systems with stick-slip friction in a spherical clearance joint is presented. A modified three-dimensional (3D) absolute nodal coordinate formulation based shear deformable beam element with two nodes is proposed and employed to discretize the flexible components. To avoid locking problems, we employed an enhanced continuum mechanics approach to evaluate the beam element elastic forces. The strain components