Bond Graphs for Flexible Multibody Systems

[+] Author and Article Information
D. L. Margolis, D. C. Karnopp

Department of Mechanical Engineering, University of California, Davis, Calif. 45616

J. Dyn. Sys., Meas., Control 101(1), 50-57 (Mar 01, 1979) (8 pages) doi:10.1115/1.3426397 History: Received August 08, 1978; Online July 13, 2010


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.

Copyright © 1979 by ASME
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