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

Zhong Shuang Wang; Yang Yang Tao; Shang Liu

doi:10.4028/www.scientific.net/AMR.756-759.740

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 756-759The Dynamic Modelling and Simulation of Spatial...

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

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.

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Periodical:

Advanced Materials Research (Volumes 756-759)

Pages:

740-745

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.756-759.740

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Online since:

September 2013

Authors:

Zhong Shuang Wang, Yang Yang Tao, Shang Liu

Keywords:

Causality, Modeling, Prismatic Joint, Simulation, Spatial Multibody System, Vector Bond Graph

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