Simulation of Multibody System Dynamics with Rigid Elements Interconnected by Lubricated Spherical Joints

Abstract

When a joint has clearance and is subjected to a dry contact, that is, in the absence of lubrication, impacts occur between contacting bodies lead to premature wear that compromises the overall performance of the system. In contrast, the presence of a lubricating film prevents direct contact, which increases the service life of both individual components and the system as a whole. This work proposes a three-dimensional lubricated spherical joint model in the framework of non-smooth dynamics. For the lubrication model, the lubricant pressure is analytically solved by the Reynolds equations, taking into account the squeeze effect of the fluid film considered as Newtonian and cavitation effects. Finally, to evaluate the robustness and the numerical efficiency of the proposed methodology, two numerical examples of mechanisms are presented.