Bond graph modeling of planar prismatic joints

Bera, Tarun Kumar; Samantaray, Arun Kumar; Karmakar, Rupam

doi:10.1016/j.mechmachtheory.2011.07.016

Cited by 21 publications

(16 citation statements)

References 26 publications

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“…Thus, utmost care should be taken at the time of generating bond graph model of the three dimensional prismatic link. Bond graph modeling of prismatic link is developed from the concept presented in [30,[32][33][34][35]. The schematic drawing of prismatic link is shown in Fig.…”

Section: Dynamics Of the Prismatic Linkmentioning

confidence: 99%

Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot

Gor

Pathak

Samantaray

et al. 2015

Robotics and Autonomous Systems

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Section: Dynamics Of the Prismatic Linkmentioning

confidence: 99%

Control oriented model-based simulation and experimental studies on a compliant legged quadruped robot

Gor

Pathak

Samantaray

et al. 2015

Robotics and Autonomous Systems

Self Cite

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“…One of them consists in obtaining from such a bond-graph model a mathematical model, which contains differential equations or differential-algebraic equations [7]. A second possibility is to draw, based on the bondgraph model, a diagram, called block-diagram model, [8], that is further implemented in a dedicated software, as MATLAB-SIMULINK [9]. The construction of this block-diagram is a very simple task and it does not presume to write any equation of motion.…”

Section: Introductionmentioning

confidence: 99%

A systematic procedure to obtain the block diagram model from the bond graph model

Ibănescu

Ibănescu²

2018

MATEC Web Conf.

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Abstract. The bond-graph method for the analysis of systems dynamics is very widespread in engineering and, because of its simplicity and its advantages, it has been developed a lot in the last decades. The bond graph model is a diagram which describes the manner of transmitting and transforming the power in a system, starting from the source up to the final elements. One of the most preferred ways of using the bond-graph diagram is the construction of the block diagram, appropriate for an adequate soft, the most frequently used one being MATLAB-SIMULINK. The block diagram model has a wide range of application in the study of systems dynamics because of its great advantages in case of numerical simulations. The manner of obtaining the block diagram from the bond-graph diagram is left at researcher choice, because there are no clear and well-defined procedures. The work presents a systematic procedure which contains several well-defined steps that lead to an exact and unitary approach of this problem.

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“…These advantages of bond graph were recognized and applied to model various multibody systems decades ago [16][17][18][19]. However, no attention is paid towards BG modelling of the multibody dynamics of the hydraulic cylinder constrained by revolute joint until recently when this task is accomplished and applied to many applications by [20,21]. The applications reported in these references are on modelling and dynamic analysis of a V-twin engine mount system, an axially flexible conical pendulum, and three-dimensional active and passive prismatic joints.…”

Section: Introductionmentioning

confidence: 99%

“…The obtained model is validated by comparing its responses with those of the actual system in a complete duty cycle. Although simple kinematic relations are used to construct the BG model, the model can itself calculate the Coriolis and centrifugal forces because of power conservative feature of bond graph [13,20,21]. …”

Section: Introductionmentioning

confidence: 99%