Modelling of multibody dynamics and a recursive symbolic generation scheme

Hiroaki Yoshimura, Hideo Nakano, Takehiko Kawase

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
    EditorsJeffery L. Stein
    Place of PublicationNew York, NY, United States
    PublisherPubl by ASME
    Pages63-94
    Number of pages32
    Volume47
    ISBN (Print)0791810119
    Publication statusPublished - 1993
    EventProceedings of the 1993 ASME Winter Annual Meeting - New Orleans, LA, USA
    Duration: 1993 Nov 281993 Dec 3

    Other

    OtherProceedings of the 1993 ASME Winter Annual Meeting
    CityNew Orleans, LA, USA
    Period93/11/2893/12/3

    Fingerprint

    Computational efficiency
    Manipulators
    Agglomeration

    ASJC Scopus subject areas

    • Software
    • Mechanical Engineering

    Cite this

    Yoshimura, H., Nakano, H., & Kawase, T. (1993). Modelling of multibody dynamics and a recursive symbolic generation scheme. In J. L. Stein (Ed.), American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (Vol. 47, pp. 63-94). New York, NY, United States: Publ by ASME.

    Modelling of multibody dynamics and a recursive symbolic generation scheme. / Yoshimura, Hiroaki; Nakano, Hideo; Kawase, Takehiko.

    American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. ed. / Jeffery L. Stein. Vol. 47 New York, NY, United States : Publ by ASME, 1993. p. 63-94.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Yoshimura, H, Nakano, H & Kawase, T 1993, Modelling of multibody dynamics and a recursive symbolic generation scheme. in JL Stein (ed.), American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. vol. 47, Publ by ASME, New York, NY, United States, pp. 63-94, Proceedings of the 1993 ASME Winter Annual Meeting, New Orleans, LA, USA, 93/11/28.
    Yoshimura H, Nakano H, Kawase T. Modelling of multibody dynamics and a recursive symbolic generation scheme. In Stein JL, editor, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. Vol. 47. New York, NY, United States: Publ by ASME. 1993. p. 63-94
    Yoshimura, Hiroaki ; Nakano, Hideo ; Kawase, Takehiko. / Modelling of multibody dynamics and a recursive symbolic generation scheme. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. editor / Jeffery L. Stein. Vol. 47 New York, NY, United States : Publ by ASME, 1993. pp. 63-94
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