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Different dynamic formulations for a mechanism using Bond Graph

Maini Aman Kumar, Vaz Anand

Computer Assisted Methods in Engineering and Science

2020

Vol. 27, no. 4

241--264

For modeling dynamics of mechanisms, various classical formulations are available in theliterature. The equations of dynamics given by various classical formulations can also bederived from the bond graph. The bond graph is a convenient graphical representation formodeling dynamics of physical systems in multi-energy domains.In this paper, various alternative causality assignment procedures in the bond graphare used to derive different classical formulations such as the Lagrange’s equations of thefirst kind (withmultipliers), Lagrange’s formulation of the second kind, and Hamiltonianformulations. An example of the quick return mechanism has been modeled using the bondgraph technique, and various alternative causality assignment procedures are applied toderive the various formulations. Simulation coding has been done using MATLAB andresults have been analyzed and discussed. The purpose of this paper is to show how thevarious formulations can be obtained from bond graph using various alternative causalityassignment procedures.