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.

Bond Graph Modeling and Simulating of 3 RPR Planar Parallel Manipulator

2014 ◽  
Author(s):  
Cheng Yin ◽  
Shengqi Jian ◽  
Md. Hassan Faghih ◽  
Md. Toufiqul Islam ◽  
Luc Rolland
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Reference Frames ◽  
Bond Graph ◽  
Dynamics Simulation ◽  
Bond Graphs ◽  
End Effector ◽  
Planar Parallel Manipulator ◽  
Bond Graph Modeling ◽  
Graph System

A 3-RPR planar parallel robot is a kind of planar mechanisms, which can work at high speed, with high accuracy and high rigidity. In this paper, a multi-body bond graph system will be built for the 3-RPR planar parallel manipulator (PPM), along with 3 PID controllers which give commands to 3 DC motors respectively. The advantage of bond graphs is that they can integrate different types of dynamics systems, the manipulator, the control and the motor can be modelled and simulated altogether in the same process. Bond graph will be established for each rigid body with body-fixed coordinate’s reference frames, which are connected with parasitic elements (damping and compliance) to each other. The PID set-point signals are generated by the explicit inverse kinematic equations. The 3 prismatic lengths constitute the measured feedback signals. In order to make the end-effector reach the ideal position with target orientation, the three links should reach the target lengths simultaneously. In this study, the dynamics simulation of 3-RPR PPM is conducted after building the bond graph system. As the 3 motors are working simultaneously and independently, the end-effector will arrive to the expected position. Finally, the bond graph and control system are validated with the compiled results and 3D animation. Force plot and torque plot will be generated as dynamics performance. Moreover, kinematics of manipulators are also calculated using bond graph. Eventually, bond graphs are shown to be effective in solving not only dynamic but also kinematic problems.

Bond Graph Sign Conventions

1975 ◽  
Vol 97 (2) ◽  
pp. 184-188 ◽  
Author(s):  
A. S. Perelson
Keyword(s):  
Graph Model ◽  
Bond Graph ◽  
Equivalence Classes ◽  
Parameter System ◽  
Bond Graphs ◽  
Lumped Parameter ◽  
Oriented Object

The lack of arbitrariness in the choice of bond graph sign conventions is established. It is shown that an unoriented bond graph may have no unique meaning and that with certain choices of orientation a bond graph may not correspond to any lumped parameter system constructed from the same set of elements. Network interpretations of these two facts are given. Defining a bond graph as an oriented object leads to the consideration of equivalence classes of oriented bond graphs which represent the same system. It is also shown that only changes in the orientation of bonds connecting 0-junctions and 1-junctions can lead to changes in the observable properties of a bond graph model.

scholarly journals Analysing and simulating energy-based models in biology using BondGraphTools

2021 ◽  
Author(s):  
Peter Cudmore ◽  
Michael Pan ◽  
Peter J. Gawthrop ◽  
Edmund J. Crampin
Keyword(s):  
Systems Biology ◽  
Mathematical Models ◽  
Bond Graph ◽  
Experimental Measurements ◽  
Bond Graphs ◽  
Graph Models ◽  
Conservation Of Energy ◽  
Conservation Of Mass ◽  
Physical Systems ◽  
Complex Interactions

AbstractLike all physical systems, biological systems are constrained by the laws of physics. However, mathematical models of biochemistry frequently neglect the conservation of energy, leading to unrealistic behaviour. Energy-based models that are consistent with conservation of mass, charge and energy have the potential to aid the understanding of complex interactions between biological components, and are becoming easier to develop with recent advances in experimental measurements and databases. In this paper, we motivate the use of bond graphs (a modelling tool from engineering) for energy-based modelling and introduce, BondGraphTools, a Python library for constructing and analysing bond graph models. We use examples from biochemistry to illustrate how BondGraphTools can be used to automate model construction in systems biology while maintaining consistency with the laws of physics.

scholarly journals Meeting the multiscale challenge: representing physiology processes over ApiNATOMY circuits using bond graphs

2017 ◽  
Vol 8 (1) ◽  
pp. 20170026 ◽  
Author(s):  
B. de Bono ◽  
S. Safaei ◽  
P. Grenon ◽  
P. Hunter
Keyword(s):  
Bond Graph ◽  
Bond Graphs ◽  
Acid Base ◽  
Distinct Process ◽  
Biophysical Processes ◽  
Biological Structures

We introduce, and provide examples of, the application of the bond graph formalism to explicitly represent biophysical processes between and within modular biological compartments in ApiNATOMY. In particular, we focus on modelling scenarios from acid–base physiology to link distinct process modalities as bond graphs over an ApiNATOMY circuit of multiscale compartments. The embedding of bond graphs onto ApiNATOMY compartments provides a semantically and mathematically explicit basis for the coherent representation, integration and visualisation of multiscale physiology processes together with the compartmental topology of those biological structures that convey these processes.

Computational strategies for flexible multibody systems

2003 ◽  
Vol 56 (6) ◽  
pp. 553-613 ◽  
Author(s):  
Tamer M Wasfy ◽  
Ahmed K Noor
Keyword(s):  
Multibody Systems ◽  
Reference Frames ◽  
Control Strategies ◽  
Experimental Studies ◽  
Flexible Multibody Dynamics ◽  
Flexible Multibody Systems ◽  
Flexible Multibody ◽  
The Status ◽  
Constraint Modeling ◽  
Corotational Frame

The status and some recent developments in computational modeling of flexible multibody systems are summarized. Discussion focuses on a number of aspects of flexible multibody dynamics including: modeling of the flexible components, constraint modeling, solution techniques, control strategies, coupled problems, design, and experimental studies. The characteristics of the three types of reference frames used in modeling flexible multibody systems, namely, floating frame, corotational frame, and inertial frame, are compared. Future directions of research are identified. These include new applications such as micro- and nano-mechanical systems; techniques and strategies for increasing the fidelity and computational efficiency of the models; and tools that can improve the design process of flexible multibody systems. This review article cites 877 references.

Steady-State Rigid-Body Dynamic Response of Cam-Follower Mechanisms

1994 ◽  
Author(s):  
Andi I. Mahyuddin ◽  
Ashok Midha
Keyword(s):  
Steady State ◽  
Dynamic Response ◽  
Rigid Body ◽  
Angular Speed ◽  
Integration Scheme ◽  
Rigid Body Dynamic ◽  
Speed Variation ◽  
Cam Follower ◽  
Speed Fluctuation ◽  
Body Dynamic

Abstract The camshaft of a cam-follower mechanism experiences a position-dependent moment due to the force exerted on the cam by the follower, causing the angular speed of the camshaft to fluctuate. In this work, a method to expediently predict the camshaft speed fluctuation is developed. The governing equation of motion is derived assuming that the cam-follower system is an ideal one wherein all members are treated as rigid. An existing closed-form numerical algorithm is used to obtain the steady-state rigid-body dynamic response of a machine system. The solution considers a velocity-dependent moment; specifically, a resisting moment is modeled as a velocity-squared damping. The effects of flywheel size and resisting moment on camshaft speed fluctuation are studied. The results compare favorably with those obtained from transient response using a direct integration scheme. The analytical result also shows excellent agreement with the camshaft speed variation of an experimental cam-follower mechanism. The steady-state rigid-body dynamic response obtained herein also serves as a first approximation to the input camshaft speed variation in the dynamic analysis of flexible cam-follower mechanisms in a subsequent research.

Some Key Issues in Using Bond Graphs and Genetic Programming for Mechatronic System Design

2001 ◽  
Author(s):  
R. C. Rosenberg ◽  
E. D. Goodman ◽  
Kisung Seo
Keyword(s):  
Genetic Programming ◽  
System Design ◽  
Design Space ◽  
Bond Graph ◽  
Mechatronic System ◽  
Bond Graphs ◽  
Mechatronic Systems ◽  
Energy Behavior ◽  
Key Issues ◽  
Bond Graph Modeling

Abstract Mechatronic system design differs from design of single-domain systems, such as electronic circuits, mechanisms, and fluid power systems, in part because of the need to integrate the several distinct domain characteristics in predicting system behavior. The goal of our work is to develop an automated procedure that can explore mechatronic design space in a topologically open-ended manner, yet still find appropriate configurations efficiently enough to be useful. Our approach combines bond graphs for model representation with genetic programming for generating suitable design candidates as a means of exploring the design space. Bond graphs allow us to capture the common energy behavior underlying the several physical domains of mechatronic systems in a uniform notation. Genetic programming is an effective way to generate design candidates in an open-ended, but statistically structured, manner. Our initial goal is to identify the key issues in merging the bond graph modeling tool with genetic programming for searching. The first design problem we chose is that of finding a model that has a specified set of eigenvalues. The problem can be studied using a restricted set of bond graph elements to represent suitable topologies. We present the initial results of our studies and identify key issues in advancing the approach toward becoming an effective and efficient open-ended design tool for mechatronic systems.

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