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1. Corresponding author.
1999 American Control Conference, San Diego California, June 1999.
called terminal variables. The terminal variables are chosen
such that the power of the corresponding component is char- yT
UT AC = 0 (2)
acterized by their product. The mathematical relations yC
between terminal variables define the component’s physical
characteristics and are called terminal equations. Based on
the form of the terminal equations, one can distinguish three where UT is a unit matrix of dimension ( v – 1 ) and the
types of elements: passive elements that can be further
cut-set matrix U T A C can be derived by applying row
divided into dissipative and non-dissipative (energy storage
elements), sources and transducers. operations on the reduced incidence matrix A.
Figure 1: Through and across measurements on a general two-
Each chord in the system graph is uniquely associated
terminal element and its terminal graph. with a loop in the system. For a given loop, its orientation
b will be determined by the orientation of the defining chord.
Across variable
+ A new matrix, namely the circuit matrix B that captures the
x connectivity relations between circuits and edges can be
Through variable x,y
+ defined. The circuit equations associated with each circuit
Two-terminal y can be written in the form:
A B a
xT
All derivatives of an across or through variable are across BT UC = 0 (3)
or through variables as well. xC
3.1. Constraint equations Where UC is a square unit matrix with dimensions equal
The topological and algebraic properties of the system to the number of chords in the system graph.
graph can be described by two matrices, namely the inci- The circuit matrix B captures the connectivity relations
dence and circuit matrix. The incidence matrix A of a con- between circuits and edges. If a tree T has been chosen, we
nected directed graph G with v vertices and e edges is a can arrange the columns of B such that it can be partitioned
( v – 1 ) × e matrix where the entries can be -1, 1, or 0 if the into the ( e – v + 1 ) × ( v – 1 ) submatrix BT referring to the
edge is positively, negatively or not incident onto node v branches of the tree and the ( e – v + 1 ) × ( e – v + 1 ) sub-
respectively. Furthermore, if T is a tree of the connected matrix BC referring to the chords of the cotree.
graph G, the v – 1 columns of A that correspond to the From the principle of orthogonality which states that the
branches of the tree T constitute a nonsingular matrix. Thus vector space spanned by the rows of matrix A and the vector
if a tree is chosen and the columns of A are properly space spanned by the rows of matrix B are orthogonal com-
arranged, the matrix A can be partitioned into the plements [6] (i.e., AB T = 0 and BA T = 0 ) we can obtain
( v – 1 ) × ( v – 1 ) submatrix AT, referring to the branches of an expression for BT as follows:
the tree only, and the ( v – 1 ) × ( e – v + 1 ) submatrix AC,
referring to the chords of the cotree: B T = – A CT ( A T– 1 ) T (4)
b)
yaw connector (a)
or (
ect
gim
onn
W a)
t(
af
bal
e2 e3
c
RV pi
tc sh
yaw
h e1 e4
ring
co
nn e0
ec n9
n1 to e5
r( )
b) ft (b e14
sha W
hou
sing W
W
n4 n3
pitch connector (a) n0 camera
n0
W: WELD joint
energy domains involved in the system. As mentioned in
RV: Revolute joint Section 3, the system equations can be derived by simulta-
neously considering the e terminal equations and the e inde-
Finally, the reduction stage yields the following kine- pendent topological constraints. To produce a set of
matic relations: differential equations that describe the system, we need to
Table 3: Kinematic description for the composite bodies in the address two issues: 1) which topological constraints need to
seeker be considered, and 2) which of the two system variables
Reference Secondary (across or through) should be the independent variable in
Type of Joint each of the e terminal equations? In [4], we present an algo-
body body
REVOLUTE BODY_2 BODY_3 rithm based on the selection of a minimum cost spanning
REVOLUTE* BODY_2 BODY_3 tree to select the constraint equations and to decide what
REVOLUTE BODY_3 BODY_1 variable should be independent.
REVOLUTE* BODY_3 BODY_1 The terminal equations plus any independent set of e
constraint equations unambiguously define the dynamics of
Notice that there are two revolute joints per pair of com- the system. However, before these equations can be numeri-
posite bodies. Kinematic analysis reveals that the rotation cally solved they must be expressed in state space form in
axes of each pair of joints coincide. For the Dynaflex analy- which the derivatives of a state x are expressed as explicit
sis, one of the two points is removed to avoid concluding functions of the states and time. To meet this requirement,
overconstrained kinematics; only the joints marked with an we present in [4] an algorithm to derive the state-space form
asterisk are considered: these joints correspond to actuated of the dynamic equations.
joints in the design. At the end of the reduction process, we
obtain the reduced system graph shown in Figure 4. 6. Conclusions
To conclude the Dynaflex description, dynamic elements
are introduced consisting of generalized forces provided by In this paper, we have presented a methodology to derive
motors, external forces applied to the bodies, and forces act- a linear graph representing the 3D mechanics of a mecha-
ing between two bodies. For this example, only two force tronic system. This approach is part of a framework for com-
elements are introduced: e9 and e13, which are the result of posable simulation in which component models are
the motors built into the corresponding joints. Furthermore, automatically combined to create system-level simulation
we introduce gravity forces acting on the bodies at their cen- models. Dynaflex is used to derive the dynamic equations of
ter of mass (e1, e3, e5) representing the weight of BODY_2, the 3D mechanical system. While the dynamic equations for
BODY_3, and BODY_1, respectively. the rest of the mechatronic system are derived from the sys-
tem graph. An algorithm based a minimum cost spanning
tree results in a set of equations in state-space form.
5. System equations
Once the mechanical system has been described as a sys- 7. Acknowledgments
tem graph, Dynaflex can provide the dynamic equations for
the mechanism. These equations are then combined with the We would like to thank Dr. John J. McPhee and Dr. Peng-
equations derived for the mechatronic system once it has fei Shi from the Motion Research Group in the Department
been described as a system graph. This can be done without of Systems Design Engineering at the University of Waterloo
the need to consider the underlying physics in each of the for their help with the use of Dynaflex.
1999 American Control Conference, San Diego California, June 1999.
This research was funded in part by DARPA under con- Component Geometry,” Proceedings of the ASME
tract ONR # N00014-96-1-0854, by the National Institute of Design Engineering Technical Conference, Septem-
Standards and Technology, by the Pennsylvania Infrastruc- ber 1998, Atlanta, Georgia, USA
ture Technology Alliance, by the National Council of Sci- [13] P. Shi. “Flexible multibody dynamics: A new
ence and Technology of Mexico (CONACyT), and by the approach using virtual work and graph theory,” Ph. D.
Institute for Complex Engineered Systems at Carnegie Mel- Thesis, Systems Design Engineering, University of
lon University. Waterloo, Waterloo, Canada, 1998.
[14] H. M. Trent, “Isomorphisms between oriented linear
graphs and lumped physical systems,” The Journal of
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