Mechanisms as Components of Dynamic Systems: A Bond Graph Approach

[+] Author and Article Information
R. R. Allen, S. Dubowsky

School of Engineering and Applied Science, University of California, Los Angeles, Calif.

J. Eng. Ind 99(1), 104-111 (Feb 01, 1977) (8 pages) doi:10.1115/1.3439121 History: Received June 07, 1976; Online July 15, 2010


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.

Copyright © 1977 by ASME
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