0868-MODELING OF JOINTS FOR MULTIBODY SIMULATION USING BOND GRAPH

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.