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Gyrobondgraphic Method for the Coupling Dynamics of Complex Planar Linkage

《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

Issue:
2005年06期
Page:
653-657
Research Field:
Publishing date:

Info

Title:
Gyrobondgraphic Method for the Coupling Dynamics of Complex Planar Linkage
Author(s):
WANG Zhong-shuang; LU Nian-li
School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,China
Keywords:
coupling dynamics;  dynamic simulation;  gyrobondgraphs;  complex planar linkage
PACS:
TH112
DOI:
-
Abstract:
In order to increase the efficiency and reliability of the dynamic analysis for the complex planar linkage containing the coupling of mult-i energy domains, a method based on gyrobondgraph is introduced. The general procedure to model complex planar linkage by bond graphs which include the coupling of mult-i energy domains is proposed. The unified formulae of system state space equations and constraint forces at joints are derived,which is easily generated on a computer in a complete form. As a result, the very difficult algebraic problem brought up by differential causality and nonlinear geometric constraints in formulating the unified formulae of system state space equat ions and constraint force equations can be overcome, and the automatic modeling and simulation on a computer is realized. By a pract ical example, the validity of this procedure is illustrated.

References:

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Last Update: 2013-03-03