Page 127 - The Mechatronics Handbook

9

Modeling of

Mechanical Systems

for Mechatronics

Applications

9.1 Introduction
9.2 Mechanical System Modeling
in Mechatronic Systems
Physical Variables and Power Bonds • Interconnection
of Components • Causality
9.3 Descriptions of Basic Mechanical Model
Components
Defining Mechanical Input and Output Model
Elements • Dissipative Effects in Mechanical
Systems • Potential Energy Storage Elements • Kinetic Energy
Storage • Coupling Mechanisms • Impedance Relationships
9.4 Physical Laws for Model Formulation.
Kinematic and Dynamic Laws • Identifying and Representing
Motion in a Bond Graph • Assigning and Using
Causality • Developing a Mathematical Model • Note
on Some Difficulties in Deriving Equations
9.5 Energy Methods for Mechanical System
Model Formulation
Multiport Models • Restrictions on Constitutive
Relations • Deriving Constitutive Relations
• Checking the Constitutive Relations
9.6 Rigid Body Multidimensional Dynamics
Kinematics of a Rigid Body • Dynamic Properties of a Rigid
Body • Rigid Body Dynamics
9.7 Lagrange’s Equations
Classical Approach • Dealing with Nonconservative
Effects • Extensions for Nonholonomic Systems
Raul G. Longoria • Mechanical Subsystem Models Using Lagrange Methods
The University of Texas at Austin • Methodology for Building Subsystem Model
9.1 Introduction

Mechatronics applications are distinguished by controlled motion of mechanical systems coupled to
actuators and sensors. Modeling plays a role in understanding how the properties and performance of
mechanical components and systems affect the overall mechatronic system design. This chapter reviews
methods for modeling systems of interconnected mechanical components, initially restricting the

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