A Vector Bond Graph Method of Kineto-Static Analysis for Complex Planar Linkage

Abstract

For the kineto-static analysis of complex planar linkage, the procedure based on vector bond graph is proposed. The constraint force vectors at joints can be considered as unknown effort source vectors and added to the corresponding 0-junctions of the system vector bond graph model, most of the differential causalities in system vector bond graph model can be eliminated . In the case of mixed causality, the unified formulae of driving moment and constraint forces at joints are derived based on vector bond graph, which are easily derived on a computer in a complete form. As a result, the very difficult algebraic problem caused by differential causality and nonlinear junction structure can be overcome, and the automatic kineto-static analysis of complex planar linkage on a computer is realized. By a practical example, the validity of this procedure is illustrated.