Dynamic Analysis of Flexible Structures using Extended Bond Graphs

In this paper, the Extended Bond Graphs (EBG) is used to model a multi-body dynamic system. To date, the EBG is primarily based upon the material description of the irreversible thermodynamics of continua from continuum mechanics. Most of its applications are limited to systems with small spatial motion. In order to simulate various rigid and deformable multi-body systems exhibiting large overall motions, the EBG for moving reference frames is formulated in this paper. To this end, the EBG formulations for structural mechanics and for multi-rigid-body dynamic systems can be treated as special cases of the EBG in moving reference frames. Finally, the EBG formulation is used to derive models of one-link and two-link flexible manipulator systems.