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• W103173736 abstract "In this paper a systematic approach for modelling flexible multibody systems with the aid of Bond-Graphs and using the assumed modes method is proposed. The kinematic jonction structure of a single flexible link is established and the kine-tic, gravitational, elastic multiports are exhibited. In order to obtain the lumped parameter model, the multiports are transformed over the kinematic junction structu-re. The choice of the assumed displacement fields is discussed with respect to the property of not generating rigid body motion, and the model of a Bernoulli-Euler beam is given. Finally the Bond-Graph procedure proposed by Bos (1986) for assembling rigid multibody systems is established in order to incorporate the flexible link models." @default.
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• W103173736 date "1989-07-01" @default.
• W103173736 modified "2023-09-26" @default.
• W103173736 title "Bond-Graph Modelling of Flexible Robotic Manipulators" @default.
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• W103173736 doi "https://doi.org/10.1016/s1474-6670(17)54395-5" @default.
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