1. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
General representation of a typical spherical joint with clearance in spatial mechanisms

2. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Relative indentation between the ball and socket

3. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Behavior of the friction force models: (a) Coulomb, (b) Ambrósio, (c) Threlfall, (d) Stribeck, (e) piecewise-linear, and (f) Bengisu and Akay

4. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Schematic representation of the spatial four-bar mechanism with a spherical clearance joint

5. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
(a) Z-position of the rocker, (b) Z-velocity of the rocker, (c) Z-acceleration of the rocker, and (d) mechanical energy variation

6. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Eccentricity ratio evolution with time: (a) frictionless clearance joint and (b) clearance joint with friction

7. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Portrait phases of rocker Z-position versus Z-velocity and rocker Z-velocity versus Z-acceleration: (a) and (b) ideal joint; (c) and (d) frictionless clearance joint, and (e) and (f) clearance joint with friction

8. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Influence of the friction force model on the four-bar mechanism's response

9. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Influence of the clearance size on the four-bar mechanism's response

10. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Influence of the coefficient of friction on the four-bar mechanism's response

11. Date of download: 11/15/2017
Copyright © ASME. All rights reserved.
From: A Study on the Dynamics of Spatial Mechanisms With Frictional Spherical Clearance Joints
J. Comput. Nonlinear Dynam. 2017;12(5): doi: /
Figure Legend:
Effect of the joint model, friction force model, clearance size, and friction coefficient on the computational efficiency