The Dynamic Modelling and Simulation of Spatial Multibody Systems with Prismatic Joint Based on Vector Bond Graph

DOI

10.2991/iccia.2012.333How to use a DOI?

Keywords

Vector bond graph, Modelling and simulation, Spatial multibody system, Prismatic joint, Causality

Abstract

For the modelling and simulation of complex spatial multibody systems, the vector bond graph method is proposed. By the kinematic constraint condation, spatial prismatic joint can be modeled by vector bond graph. For the algebraic difficulties brought by differential causality in system automatic modeling and simulation, the effective decoupling method is proposed and the differential causalities in system vector bond graph model can be eliminated. In the case of considering EJS, the unified formulae of system state space equations and constraint forces at joints are derived, which are easily derived on a computer and very suitable for spatial multibody systems. As a result, the unified modelling and simulation for complex spatial multibody systems are realized, its validity is illustrated by a practical example.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhongshuang Wang
AU  - Yangyang Tao
AU  - Shang Liu
PY  - 2014/05
DA  - 2014/05
TI  - The Dynamic Modelling and Simulation of Spatial Multibody Systems with Prismatic Joint Based on Vector Bond Graph
BT  - Proceedings of the 2012 2nd International Conference on Computer and Information Application (ICCIA 2012)
PB  - Atlantis Press
SP  - 1342
EP  - 1346
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccia.2012.333
DO  - 10.2991/iccia.2012.333
ID  - Wang2014/05
ER  -