Bond graph modelling and simulation of multidisciplinary systems – An introduction

Procedures for modelling multibody systems are well known and many formulations and tools are available for these types of systems. For several years, emphasis has been placed on the modelling of electromechanical systems, particularly multibody systems, such as robots, which are driven by electrical actuators. In this paper, three different unified modelling strategies, based on the virtual work principle, linear graph and bond graph theories, are presented and compared. Three examples, including non-academic applications, illustrate this comparison.

A comparison of different methods for modelling electromechanical multibody systems

A scheme for robust trajectory control of space robots

https://hal.archives-ouvertes.fr/hal-00140639/document

A planar mechanical library in the AMESim simulation software. Part I: Formulation of dynamics equations

Causality in vector bond graphs and its application to modeling of multi-body dynamic systems

In this paper we propose a procedure for building bond graph representations of multibody systems with kinematic loops. It is systematic in the sense that no analytical derivation is necessary to construct the bond graph. It also gives a more graphically and analytically exploitable representation compared to the Tiernego and Bos procedure. Our method first considers the kinematic loops globally before building the body bond graphs. Therefore we have to detect a privileged frame for each kinematic loop in which we can express the kinematic constraint. Then we construct the corresponding junction structures of bodies whose variables are projected onto those privileged frames. After having presented criteria and a method for selecting the latter, two examples are given: the forming machine and the flyball governor.

Bond graph representation of multibody systems with kinematic loops

This paper compares the Tiernego and Bos procedure to that of the priviliged frame representation for the bond graph representation of multibody mechanical systems with kinematic loops. This comparison is carried out using the example of a Delta Robot.
The priviliged frame representation procedure that we have recently developed is systematic since no analytical derivation is necessary to build the bond graph and this procedure aims at a more concise representation which may help the analytical and structural exploitation.
This procedure is based on the detection of priviliged frames on the kinematic loops of mechanical systems. After this detection process, both effort and flow variables attached to the junction structures of bodies involved in the kinematic loops, are expressed in those frames.

https://hal.archives-ouvertes.fr/hal-02064838/document

Wilfrid Favre

Papers

Bond graph representation of multibody systems with kinematic loops

Application of the Bond Graph Priviliged Frame Representation to the Example of a Delta Robot