A New Approach on the Modelling of Multibody Systems using Multibond Graphs

In the bond graph field, a new branch, multibond graph, is being developed actually. A great application of this branch is the multibody system analysis. Several works of this kind of analysis have been reported [3], [4], [5], [6]. Based on the reported results, new multibond graph diagrams for describing the motion of rigid bodies and modelling kinematical constraints have been developed and proposed by the authors of this paper. Both multibond graph diagrams favor the integration causality required for obtaining an independent set of state equations wich describes the behavior of the system. Also, a multibody system can easily be described as a combination of these elements. For showing the application of the multibond graph diagrams proposed, the modelling and simulation of a five degrees of freedom robot are presented.