Mechanisms as Components of Dynamic Systems: A Bond Graph Approach

Abstract

In recent years, bond graphs have been used to analyze complex dynamic systems. In this paper a bond graph study is made of the kinematics and dynamics of a general mechanism treated as a component of a dynamic system. The method is applicable to multiple-loop, multiple degree-of-freedom mechanisms for which the displacement and velocity loop equations are known. A bond graph multiport representing the kinematic relations forms a power-conserving core to which dissipative, inertial, and compliance effects may be added to form a dynamic mechanism model. A constitutive relation suitable for automatic computation is derived in terms of system variables. A numerical example is presented illustrating an application of the technique.