Dynamic analysis of mechanisms using constrained Lagrangian bond graphs

Y. A. Khulief

doi:10.1115/DETC1992-0362

Dynamic analysis of mechanisms using constrained Lagrangian bond graphs

Y. A. Khulief^*

^*Corresponding author for this work

King Fahd University of Petroleum & Minerals

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A method for dynamic analysis of mechanisms using the Lagrangian equations of motion for an Interconnected system of rigid bodies is presented. The method stems from a recent extension to the bond graph modeling technique. Intrinsically, this approach allows the formulation of the final form of equations for holonomic systems without recourse to I he I agrangian function. Consequently, the burdens of deriving the expressions for kinetic and potential energies, and performing the necessary differentiations have been eliminated. This method calls only for constructing the Jacobian matrix of constraints, and then employing a bond graph that accounts for the generalized constraint reaction forces.

Original language	English
Title of host publication	22nd Biennial Mechanisms Conference
Subtitle of host publication	Flexible Mechanisms, Dynamics, and Analysis
Publisher	American Society of Mechanical Engineers (ASME)
Pages	59-65
Number of pages	7
ISBN (Electronic)	9780791809419
DOIs	https://doi.org/10.1115/DETC1992-0362
State	Published - 1992

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	Part F168016-4

Bibliographical note

Publisher Copyright:
© 1992 American Society of Mechanical Engineers (ASME). All rights reserved.

ASJC Scopus subject areas

Mechanical Engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Modeling and Simulation

Access to Document

10.1115/DETC1992-0362

Cite this

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title = "Dynamic analysis of mechanisms using constrained Lagrangian bond graphs",

abstract = "A method for dynamic analysis of mechanisms using the Lagrangian equations of motion for an Interconnected system of rigid bodies is presented. The method stems from a recent extension to the bond graph modeling technique. Intrinsically, this approach allows the formulation of the final form of equations for holonomic systems without recourse to I he I agrangian function. Consequently, the burdens of deriving the expressions for kinetic and potential energies, and performing the necessary differentiations have been eliminated. This method calls only for constructing the Jacobian matrix of constraints, and then employing a bond graph that accounts for the generalized constraint reaction forces.",

author = "Khulief, \{Y. A.\}",

year = "1992",

doi = "10.1115/DETC1992-0362",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

pages = "59--65",

booktitle = "22nd Biennial Mechanisms Conference",

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Dynamic analysis of mechanisms using constrained Lagrangian bond graphs. / Khulief, Y. A.
22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis. American Society of Mechanical Engineers (ASME), 1992. p. 59-65 (Proceedings of the ASME Design Engineering Technical Conference; Vol. Part F168016-4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - A method for dynamic analysis of mechanisms using the Lagrangian equations of motion for an Interconnected system of rigid bodies is presented. The method stems from a recent extension to the bond graph modeling technique. Intrinsically, this approach allows the formulation of the final form of equations for holonomic systems without recourse to I he I agrangian function. Consequently, the burdens of deriving the expressions for kinetic and potential energies, and performing the necessary differentiations have been eliminated. This method calls only for constructing the Jacobian matrix of constraints, and then employing a bond graph that accounts for the generalized constraint reaction forces.

AB - A method for dynamic analysis of mechanisms using the Lagrangian equations of motion for an Interconnected system of rigid bodies is presented. The method stems from a recent extension to the bond graph modeling technique. Intrinsically, this approach allows the formulation of the final form of equations for holonomic systems without recourse to I he I agrangian function. Consequently, the burdens of deriving the expressions for kinetic and potential energies, and performing the necessary differentiations have been eliminated. This method calls only for constructing the Jacobian matrix of constraints, and then employing a bond graph that accounts for the generalized constraint reaction forces.

UR - https://www.scopus.com/pages/publications/85104190876

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DO - 10.1115/DETC1992-0362

M3 - Conference contribution

AN - SCOPUS:85104190876

T3 - Proceedings of the ASME Design Engineering Technical Conference

SP - 59

EP - 65

BT - 22nd Biennial Mechanisms Conference

PB - American Society of Mechanical Engineers (ASME)

ER -

Dynamic analysis of mechanisms using constrained Lagrangian bond graphs

Abstract

Publication series

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this