Bond graph modeling of multibody systems: A library of three-dimensional joints (Q1317939)

The Karnopp-Margolis method of modeling mechanisms is not only intuitively appealing, but it is also equivalent to the classical Lagrangian multiplier approach that produces the dynamic equations in state space form [\textit{A. Zeid}, J. Dyn. Syst. Meas. Control 111, 15-23 (1989)]. This paper details modeling space mechanisms and multibody systems using the Karnopp-Margolis method. A bond graph library is given for six types of joints that are common in building space mechanisms. These joints can be modeled using bond graph processors ENPORT or CAMP.