Modelling of multibody dynamics and a recursive symbolic generation scheme

Hiroaki Yoshimura*, Hideo Nakano, Takehiko Kawase


研究成果: Conference contribution


A modelling method of multibody dynamics and a symbolic generation scheme which generates the symbolic codes of the system equations are proposed. The scheme employs bond graph language which enables us to categorize the required kinematical and dynamical relations into the structural, physical and causal information to visualize them in bond graphs and then to provide necessary functional relations directly from the bond graph. The proposed scheme also employs the so-called diakoptical approach. The system is first reticulated into its constituent units, each of which is called a fundamental pair, and further into their dynamical and kinematical elements. An aggregation of such disconnected elements, which is called a primitive system, is then interconnected through the junction structure or a nonenergic multiport, which is one of the principal tools of the bond graph modelling method proposed in the present paper. The fundamental idea of the nonenergicness which plays a key role in the above interconnection is briefly outlined and it is demonstrated how various kinematical and dynamical relations of the Stanford manipulator, an illustrative example, are described as such nonenergic multiports. Second a causal and causal coefficient matrices are presented, which utilize a tableau expression of the nonenergic multiports. It is also shown how those two matrices play, in the proposed symbolic scheme, an essential role in the elimination process of unnecessary variables like constraint forces, specifically, recursively utilizing intermediate variables associated with the inner bonds. Last a brief comparative study with conventional schemes is presented from the viewpoint of computational efficiency in the symbolic generation.

ホスト出版物のタイトルAutomated Modeling for Design
編集者Jeffery L. Stein
出版社Publ by ASME
出版ステータスPublished - 1993 12月 1
イベントProceedings of the 1993 ASME Winter Annual Meeting - New Orleans, LA, USA
継続期間: 1993 11月 281993 12月 3


名前American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC


OtherProceedings of the 1993 ASME Winter Annual Meeting
CityNew Orleans, LA, USA

ASJC Scopus subject areas

  • ソフトウェア
  • 機械工学


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