Abstract:
In areas like road vehicles rail vehicles, high speed mechanisms, robotics and machine tools
simulation is an inexpensive way to experiment with the system. The above indicated kind of
mechanical systems belong to a broader class of rigid body systems frequently called multi body
systems. They consist of a finite number of rigid bodies, interconnected by arbitrary joints. The
latter may exhibit properties of rotational or translational degrees of freedom, also damping and
compliance, and normally contain some sort of attachment for drives and external forces. The
current study deals with the modeling of joint with imperfections that are typical in such systems.
This thesis is focused on modeling of joint with imperfections using Bond Graphs. A
methodology for simple and efficient modeling of multi body systems with joint hard limits and
directional clearances has been devised. Typical multi body systems include control components
of multi domain nature like actuator, sensor dynamics. Bond Graph Modeling has the capability
to deal with multi domain systems. Bond Graph technique has been chosen due to application of
joints in robotics which is a multi domain field The aim of the research is to model joints for
high fidelity multi body simulations. Modeling of imperfections in prismatic and revolute joints
has been carried out using bond graphs.
