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When there is a clearance in a revolute joint, impacts between the journal and the bearing can occur, and consequently, local deformations take place. The impact is internal and the response of the system is performed using a continuous contact force model. The friction effect because of the contact between joint elements is also included. The dynamic response of the systems is obtained numerically by solving the constraint equations and the contact-impact forces produced in the clearance joint, simultaneously with the differential equations of motion and a set of initial conditions. Numerical results for two simple mechanisms with revolute clearance joints are presented and discussed. In the present work, the clearance size and friction effects are analysed separately. Through the use of Poincar\u00e9 maps, both periodic and chaotic responses of the systems are observed. The results predict the existence of the periodic or regular motion at certain clearance sizes and friction coefficients and chaotic or non-linear in other cases.<\/jats:p>","DOI":"10.1243\/14644193jmbd96","type":"journal-article","created":{"date-parts":[[2007,6,28]],"date-time":"2007-06-28T12:05:18Z","timestamp":1183032318000},"page":"161-174","source":"Crossref","is-referenced-by-count":37,"title":["Dynamic behaviour of planar rigid multi-body systems including revolute joints with clearance"],"prefix":"10.1177","volume":"221","author":[{"given":"P","family":"Flores","sequence":"first","affiliation":[{"name":"Departamento de Engenharia Mec\u00e2nica, Universidade do Minho, Guimar\u00e3es, Portugal"}]},{"given":"J","family":"Ambr\u00f3sio","sequence":"additional","affiliation":[{"name":"Instituto de Engenharia Mec\u00e2nica (IDMEC), Instituto Superior T\u00e9cnico, Lisboa, Portugal"}]},{"given":"J C P","family":"Claro","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia Mec\u00e2nica, Universidade do Minho, Guimar\u00e3es, Portugal"}]},{"given":"H M","family":"Lankarani","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Wichita State University, Kansas, USA"}]}],"member":"179","published-online":{"date-parts":[[2007,6]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"150","article-title":"Dynamic effects of backlash","volume":"35","author":"Goodman T. 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