Dynamics of multibody system with bond graphs

FILIPPINI GERMAN; DELARMELINA DIEGO; PAGANO JORGE; ALIANAK JUAN PABLO; JUNCO SERGIO; NIGRO NORBERTO

CORDOBA

Congreso; ENIEF 2007; 2007

ASOCIACION ARGENTINA DE MECANICA COMPUTACIONAL

In this work a general multibody system theory is implemented within a bond graph modeling framework. In classical mechanics several procedures exist by which differential equations can be derived of a system of rigid bodies. In the case of large systems these procedures are labor-intensive and consequently error-prone, unless they are computerized. The bond graphs formalism allows for a unified modeling of multidisciplinary physical systems. It is well-suited for a modular modeling approach based on physical principles. The theory of multibody system dynamics in terms of bond graphs modeling is revisited with the purpose of designing a multibond graph library for such systems. Several mechanical systems undergoing large 3-dimensional rotations are numerically solved in order to validate this software library written in 20-sim software. Eqr{