Abstract:

In order to improve the efficiency and reliability of the dynamics analysis for the cornplex Dlanar linkage containing the coupling of multiple energy domains.a method named bond graph is introduced.The general proce.dure to establish the bond graph model considering the coupling of the rigidity,the flexibility and multiple energy domains in a non-inertial coordinate system is then proposed.The unified expressions for the state.space equati0ns 0f the system and the constraint forces at the joints,which can be easily auto generated by a computer,are also de.duced．The constraint forces at the joints can be loaded on the corresponding O-junctions in the bond graph model as an unknown effort source.As a resuh,the difficult algebraic problem resulting from the nonlinear iunction struc.ture and the differential causality is solved,and the automatic modeling and simulation by a computer are realized .Through a practical example,the validity of the proposed bond graph method is finally verifie

Key words: bond graph, coupling dynamics, planar flexible multi body system, non-inertial coordinate svstem