Dynamic analysis of a two-link flexible manipulator system using Extended Bond Graphs

1993 ◽  
Vol 330 (6) ◽  
pp. 1113-1134 ◽  
Author(s):  
Chiaming Yen ◽  
Glenn Y. Masada ◽  
Wei-Min Chan
Keyword(s):  
Dynamic Analysis ◽  
Flexible Manipulator ◽  
Bond Graphs

Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping

1997 ◽  
Vol 119 (4) ◽  
pp. 831-833 ◽  
Author(s):  
Fan Zijie ◽  
Lu Bingheng ◽  
C. H. Ku
Keyword(s):  
Finite Element ◽  
Dynamic Response ◽  
Dynamic Analysis ◽  
Virtual Work ◽  
Robot Manipulators ◽  
Flexible Manipulator ◽  
Viscoelastic Damping ◽  
Principle Of Virtual Work ◽  
Flexible Robot ◽  
Damping Treatments

The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manipulators.

Dynamic Analysis of Flexible Bodies Using Extended Bond Graphs

1994 ◽  
Vol 116 (1) ◽  
pp. 66-72 ◽  
Author(s):  
Chiaming Yen ◽  
Glenn Y. Masada
Keyword(s):  
Reference Frames ◽  
Bond Graph ◽  
Flexible Manipulator ◽  
Bond Graphs ◽  
Inverse Dynamic ◽  
Flexible Bodies ◽  
Rigid Body Dynamic ◽  
Special Cases ◽  
Flexible Multibody ◽  
Body Dynamic

An Extended Bond Graph (EBG) formulation is described for analyzing the dynamics of a flexible multibody system. This work extends the EBG method, which was originally developed for systems with small spatial motion, to rigid and flexible multibody systems exhibiting large overall motions. The development uses modular models for the elements so that complex system models can be derived by coupling these modules. The EBG formulation for moving reference frames is used to derive models of one-link and two-link flexible manipulator systems. This approach has several advantages over the Lagrangian and Newtonian methods, such as its ability to solve the forward and inverse dynamic problems using the same bond graph. Finally, the EBG formulations for cantilever beams and for multi-rigid body dynamic systems are shown to be special cases of the general EGBs for flexible bodies.

scholarly journals Dynamic Analysis of Stewart Platform by Bond Graphs

2015 ◽  
Vol 100 ◽  
pp. 226-233 ◽  
Author(s):  
Vjekoslav Damic ◽  
Maida Cohodar
Keyword(s):  
Dynamic Analysis ◽  
Stewart Platform ◽  
Bond Graphs

An Automated Graph Grammar Based Tool to Automatically Generate System Bond Graphs for Dynamic Analysis

2016 ◽  
Author(s):  
Daniel Grande ◽  
Felice Mancini ◽  
Pradeep Radhakrishnan
Keyword(s):  
Dynamic Analysis ◽  
Bond Graph ◽  
Graph Grammar ◽  
Search Process ◽  
Bond Graphs ◽  
System Components ◽  
Grammar Rules ◽  
Algorithmic Search ◽  
Representation Scheme ◽  
Automated Tool

This paper presents a graph grammar based automated tool that can generate bond graphs of various systems for dynamic analysis. A generic graph grammar based representation scheme has been developed for different system components and bond graph elements. Using that representation, grammar rules have been developed that enable interpreting a given system and generating bond graph through an algorithmic search process. Besides, the paper also demonstrates the utility of the proposed tool in classrooms to enhance value in bond graph based system dynamics education. The underlying technique, various examples and benefits of this automated tool will be highlighted.

Sign in / Sign up

Export Citation Format

Share Document