Mechanical Constraint Arrangement and Its Multibond Graph Representation

== Abstract ==

When developing a computer model of the multibody system (MBS) dynamics it is interesting to have a unified technology to construct the models in an efficient way. It turns out object-oriented approach provides a tools to resolve such a problem successively step by step. One of these unified ways is connected tightly with the so-called multiport representation of the models initially based on the bond graph use. These latter ones in turn based on the idea of energy exchanges, and substantially on energy conservation for physically interconnected subsystems of any engineering type. A detailed description of the multibond graph representation for the most general type of constraint is presented. It turned out the resulting total multibond graph model of the multibody system dynamics always has exactly a canonical junction structure. This representation has a tight correspondence with our previous object-oriented implementation of the mechanical constraint architecture. Computational experience makes it possible to classify objects of the multibody system dynamics. Such a model includes two classes of objects. They correspond to notions of 'body' and 'constraint'. Each of these notions indeed corresponds to the certain type of the multibond graph junction.

== Full document ==
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