Proposition of a modeling method for constrained mechanical systems based on the vector bond graph

Even though the bond graph method was a useful tool in the modeling of physical systems, it has not been adopted for dealing with large mechanical systems in three-dimensional space. Due to the lack of vector concept, there were difficulties when the topology of the system was becoming more sophisticated. In order to deal with constrained mechanical systems by some types of joint using the bond graph terminology, a more effective method has to be devised. Considering the background, this paper provides a simple and new representation of mechanical joints by using vector bond graph elements. Also, force elements are modeled by the bond graph terminology. In the bond graph of this paper, the power is conserved and the law of energy conservation is reserved through all elements. As a result, the paper provides an effective and graphical tool for carrying out three-dimensional constrained mechanical dynamic problems with the vector bond graph.