Bond Graphs for Flexible Multibody Systems

1979 ◽  
Vol 101 (1) ◽  
pp. 50-57 ◽  
Author(s):  
D. L. Margolis ◽  
D. C. Karnopp
Keyword(s):  
Rigid Body ◽  
Multibody Systems ◽  
Rigid Body Dynamics ◽  
Bond Graphs ◽  
Flexible Bodies ◽  
Actuator Dynamics ◽  
Bending Mode ◽  
Body Dynamics ◽  
Rigid Body Modes ◽  
Bending Modes

A method is presented for the analysis and simulation of the dynamic response of systems containing several long, flexible bodies driven by actuators at joints and attachment points. Applications include remote manipulators, cranes, and complex spacecraft. The geometric nonlinearities of rigid body dynamics are retained as well as small bending mode vibrations based upon linearized analysis. Since bond graphs are used, the actuator dynamics are readily incorporated. The results of simulation of a two body system with electrical actuators and up to three bending modes per body in addition to the rigid body modes are shown.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

New solutions of classical problems in rigid body dynamics

2015 ◽  
Vol 69 ◽  
pp. 40-44
Author(s):  
H.M. Yehia ◽  
E. Saleh ◽  
S.F. Megahid
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics

scholarly journals In Silico Single-Molecule Manipulation of DNA with Rigid Body Dynamics

2014 ◽  
Vol 10 (2) ◽  
pp. e1003456 ◽  
Author(s):  
Pascal Carrivain ◽  
Maria Barbi ◽  
Jean-Marc Victor
Keyword(s):  
Rigid Body ◽  
Single Molecule ◽  
In Silico ◽  
Rigid Body Dynamics ◽  
Body Dynamics ◽  
Single Molecule Manipulation

On so‐called singular constraints in rigid‐body dynamics

1986 ◽  
Vol 54 (7) ◽  
pp. 585-586
Author(s):  
Stephen F. Felszeghy
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics

Rigid Body Dynamics

2014 ◽  
pp. 191-227 ◽  
Author(s):  
Pål Johan From ◽  
Jan Tommy Gravdahl ◽  
Kristin Ytterstad Pettersen
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics
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