Sensors & Transducers (Jul 2014)
The Dynamic Simulation of Planar Linkage with Revolute Joint Clearance Based on Vector Bond Graph
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.
