Bond graph representation of multibody systems with kinematic loops
01 May 1998-Journal of The Franklin Institute-engineering and Applied Mathematics (Pergamon)-Vol. 335, Iss: 4, pp 643-660
TL;DR: In this article, the authors propose a procedure for building bond graph representations of multibody systems with kinematic loops, which is systematic in the sense that no analytical derivation is necessary to construct the bond graph, and gives a more graphically and analytically exploitable representation compared to the Tiernego and Bos procedure.
Abstract: 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.
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TL;DR: A graphical, computer aided modelling methodology particularly suited for the concurrent design of multidisciplinary systems, viz. of engineering systems with mechanical, electrical, hydraulic or pneumatic components, including interactions of physical effects from various energy domains is introduced.
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TL;DR: In this paper, three different unified modeling strategies, based on the virtual work principle, linear graph and bond graph theories, are presented and compared and three examples including non-academic applications, illustrate this comparison.
Abstract: 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.
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Cites background from "Bond graph representation of multib..."
...Favre [9] has proposed an extension of Tiernego’s work to closed-loop systems, leading to the diamond-shape bond graph of a body....
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References
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Book•
01 Jan 1975TL;DR: Multiport Systems and Bond Graphs Basic Component Models System Models State-Space Equations Analysis of Linear Systems Multiport Fields and Junction Structures
Abstract: Multiport Systems and Bond Graphs Basic Component Models System Models State-Space Equations Analysis of Linear Systems Multiport Fields and Junction Structures Transducers, Amplifiers, and Instruments Rigid-Body Mechanics Distributed Parameter Systems Magnetic Circuits and Devices Thermofluid Systems Nonlinear Simulation Index.
1,070 citations
Book•
01 Jan 1968
156 citations
TL;DR: The type of transformation required in mechanics elucidates a fundamental difference between electric circuits and mechanical systems, including the use of co-energy expressions for ideal devices which, although conservative, store no energy.
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