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Vol. 175, Issue 7, July 2014, pp. 321-326

 

Bullet

 

The Dynamic Simulation of Planar Linkage with Revolute Joint Clearance
Based on Vector Bond Graph
 
* Zhongshuang WANG, Tao YANG

School of Mechatronic Engineering, Qiqihar University, Qiqihar, 161006, China

* Tel.: 86-13604527868, fax: 86-452-2712809

* E-mail: wzhsh1962@163.com

 

Received: 23 April 2014   /Accepted: 30 June 2014   /Published: 31 July 2014

Digital Sensors and Sensor Sysstems

 

Abstract: For improving the reliability and efficiency of the dynamic modelling and simulation of planar linkage with revolute joint clearances, the corresponding vector bond graph procedure is proposed. Based on the kinematic relations, the vector bond graph model of a rigid body undergoing planar motion is built. Besides this, the vector bond graph model of revolute joint clearance is made based on continuous contact model, in which a pin is assumed always in contact with a socket in each pair and the revolute joint clearance can be considered as a massless imaginary link with a constant length. For the difficulties brought by differential causality in the system automatic modeling and simulation, the effective bond graph augument method is proposed. As a result, the automatic modelling and simulation of an electromechanical coupling system with revolute joint clearance on a computer is realized by corresponding algorithm, its validity is illustrated by a practical example.

 

Keywords: Vector bond graph, Modelling and simulation, Planar linkage with revolute joint clearance, Bond graph augument, Causality

 

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