A System Approach to Modelling and Simulation of Multibody Systems Using Acosal Bond Graphs

An approach to simulation of mechanical system using bond graphs is presented. The mechanical system may consist of several rigid bodys connected by joints. Modelling of such a system can be developed by system decomposition. At each level of decomposition processes considered were described using bond graphs. In that way model of the system has been represented as a tree of models. Models in the tree represent objects that contain all informations on its functionality. The bond graph used are acausal not implying any specific input-output relationships. Description of the system motion apears as a system of the sparse nonlinear differention formula.The approach has been applied to simulation of the motion of the reciprocating mechanism.