Marhl Comput. Mafelling, Vol. I I, pp. I1441 150, 1988 0895.7177188 $3.00 + 0.

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HATHEMATICAL HODRLING OF PLANAR MJKHANISMS WITH COMPLIAW JOINTS

Ashraf A. Z&d, Assistant Professor

Mechanical Engineering Department

Wayne State University, Detroit, MI 48202

Abstract. In this work we demonstrate that the state space equations

formulation for a planar mechanism with compliant joints can be directly
obtained from the adjacency condition of a graphical model of the aecha-
nism. The graphical model used used is a canonical form of the bond
graph model, namely the gyrobondgraph. The procedure presented here can
be easily automated to produce the state space formulation in symbolic
form.

We demonstrate the procedure by obtaining the bond graph model of a four

bar mechanism. The model is then transformed to the canonical gyrobond-
graph form. From the adjacency condition of the gyrobondgraph a set of
first order differential equations that describes the state space repre-
sentation are directly obtained.

The procedure is applied to the more complex five bar mechanism with
compliant joints. It is demonstrated that the increase in the complexi-
ty of the mechanism does not affect the simplicity of the procedure.

INTRODUCTION of mechanisms, the programs KNPORT and CAlG'

Using classical techniques to derive the
dynamic equations of planar mechanisms with
compliant elements can be a tedious and error
prone task. The resulting dynamic equations in
general a*e complex, coupled and useful mainly
for digital integration. Rere we present a
systematic procedure that can be used to produce
the dynamic equations of planar mechanisms that
have realistic joints effects (81. The dynamic
equations are obtained in state space form. The
procedure described here is based on the bond
graph description [4] and was first introduced
by Kornopp and Margolis in (51. In their paper
Karopp and Margolis, described a bond graph
representation of planar mechanism with flexible
joints. They used fictitious compliances at the
joints to overcome the problem of the derivative
causality. A bond graph with derivative causa-
lity implies the existance of an algebraic loop:
the system dynamics are described by a set of
first order differential equations together with
a set of algebraic equations. Several bond
graph based computer programs for example EN'PORT
191, CAMP [lo], and TUTSIM [Ill can be used to
simulate the time response of the mechanism. If
the bond graph describes a nonlinear system and
contains derivative causality, a characteristic
cannot automatically derive the dynamic equa-
tions due to constraints described by Rosenberg
in [l]. The dynamic equations in general can be
derived algorithmically as described by Rosen-
berg in [l]. Here we describe a particular case
of Rosenberg's procedure that we use to derive
the nonlinear equation of plsnar mechanisms.
Because of the particular structure of the bond
graphs that models mechanisms with compliant
joints, we show that the dynamic equations can
be directly obtained in closed state space form
from the adjacencies of the cormnon velocities
and comon forces points (cf II). The advantage
of this method is that in the particular case of
planar mechanism the dynamic equations are given
in an analytic nonlinear state space form. This
form can be used in the design and analysis of
the mechanism controls.
To motivate what follovs consider the example of
the four bar mechanisms shown in figure 1.a.
The links have moments of inertia6 J J2 and J
and the link that is undergoing p I!'anar aotio a
has mass m2. The bond graph model is shown in
figure 1.b. The transformers element8 TF are
modulated transformers. The nonlinear coeffi-
cients of the modulated transformer are obtained

II44
 Proc. 6th Int. Conf. on Mathematical Modelling 1145

by taking the time derivativesof the inertial

Cartesian positions of connection points as
functionof inertialangulardisplacements.For
example, the transformermodulus for TF16 and
TF19 are obtainedas follows:

(1) From the geometric description of the

link coordinates

= 21 cos ql and q91 = 1,

q61
si* q1
(2) Taking time deriative:
.
q61 = -2, sin ql.* 4, and qgl =
f, cos 91 q*
The modulatedtransformersare then: TF16 = !21
sin ql and TF91 = 11 cos ql.

In figure 1.d is the simplifiedform of the gy-

robondgraph,namely the point graph. Although
the state matrix can be algorithmicallyobtained
from the bond graph as describedby Rosenbergin
[l] we will use the adjacencyof the point graph
to derive the state laatrix.From figure 1 it is
clear that the point graph is a compactform of
the bond graph. The point graph is a linear
graph that contains all the informationneces-
sary for the state space formulationof the sys-
tem's dynamicequations. In the bond graph each
velocity is representedby a l-junctionand each
relative velocity is representedby a O-junc-
tion. In the point graph each point corresponds
to a l- or a O-junctionthat is adjacentto a
storage element acting in its integrationform. The coefficients g..(x) are identical to the
Then each point in the point graph will corre- transformercoefficiYnt8TF..(x). If no trans-
spond to a state. The state vector for the former exists in the bondiJgraph,for example
four bar mechanismis then: between point 5 and 6 or between 5 and 4, then
the coefficientsG.. = 1. Note if no power bond
x = IP, P2 P3 q4 P5 n, q7 pg qgl exists between tw'd points i and j then the
correspondingA..(x) entry in the nonlinear
where: state matrix is &Lo.

Pa P2 and p are the angular momentum of From this example it is clear that the nonlinear
tie crank, coapler and rocker respectively, state space matrix A(x) = [a..(x)] can be di-
and pg are the linear momentum of the rectly obtained from the bondi!&aphor the more
c upler in theafdand y directionrespectively; compact point graph by simply deciding the
pS
~~~ts~:e ;ir q+ are relative displace- weights on the lines (or transformermodulus)
the exi tence of spring type coup- connectingpoint i to j:
lings between the links.
aij(x) = Bij(x)
The canonicalform of the bondgraphdepictedin
figure 1.b is of the simple full type &scribed Next we present the general form of nonlinear
in section II. For simple full graphs the state space representation for mechanisms.
dynamic equations can be directly obtained in
the nonlinear state space form as follows: II. Bond Graphs and Point Graphs Representation
of Planar Recbanisns
x = A(x).[‘I.]-*.x where,
For completenesswe first briefly present the
bond graph terminologyand describe its conver-
sion to a canonicalform, namely the gyrobond-
graph and its reduction to tbe point graph
form. We then present a general form for the
nonlinear state space representationof mecha-
nisms.

11.1 Bond Graphs and Gyrobondgraphs

The bond graphs are graphicalmodels of dynamic

systems. For a completedescriptionof the bond
graph language and methods the reader is re-
1146 Proc. 6th Int. Conf. on Mathematical Modelling

ferred to references [4] and [z]. Bond graph Classification:

employs a standard set of nine idealized ele-
ments to represent the energy storage and flow We classify gyrobondgraphsdepending on their
in the system. These elements are represented topology to simple, simple partial and siarple
by the followingsymbols: full. The purpose of this classificationwill
be apparent when we derive the general stste
ses Sf-' Idealizedsources of effort and flow, space formulationfor each.
respectively;
R : Idealizeresistance; A simple full graph (SFG) is a gyrobondgraph,or
c, 1: Idealizedpotentialand kinetic energy a subgraph of a simple partial or sQople graph,
storage,respectively; in which each l-junction is adjacent to an I
0, 1: Power-conserving junction eleawants,elementand also possiblybut not necessarilyan
cormon effort and cormeOnflow, respec- R element.
tively; and
TP, GY: Energy-domaintransformation elements, A simple partial graph (SPG) is a gyrobondgraph,
transformerand gyrator,respectively. or a subgraph of a simple graph, in which each
l-junctionis adjacent to at least one I or one
In the bond graph, the lines connecting the R element. The set of l-junctionsadjacent to
above elementsare called the bonds. Associated only an R element will be called the P-points.
with each bond are two scalar variables: the The set of l-junctionsthat are adjacentto an I
effort and the flow. Their product is the elementwill be donated the F points.
power. The end of a bond that has positive
power is indicatedby a half arrow. A simple graph (SG) is a gyrobondgraphin which
any l-junctioncan a P point, an F point or is
In the standardbond graph, a convenientcorre- not adjacentto any element.
spondence exists between the physical system
being modeled and the elements of the bond The state matrix for a system described by a
graph. In the gyrobondgraphthis convenienceis siarple partial graph is given by [13]:
exchanged for a more uniform graph vith fewer
modeling elements. The gyrobondgraph,intro- A(x) = [(~(X)-%(X))+8Fp(X)(Sp(X)-%(x))-1
duced by Rosenberg in 131, is based on a primi-
tive set of five elwents. s~wlI~I(x,.l-l (1)
They are: For the specialcase of linear systeiss
the equa-
tion for the state matrix is then:
(Se' I, R, 1, GY)
A = [(SF-RF)+SPP(Sp-RP)-lS~][.I.]-1
The set includes one input (S ), one storage
type (I), disipation(R), one j&&ion type (I), SubscriptF denotesthe sets of l-junctionswith
and one transducer(GY). an adjacent I element; and subscriptP denotes
the remainingset. The matrices Ssr;Feagtb
The el-ts of a gyrobondgraph fulfill the are partitionsof the Junction st
followingadjacencyconditions: s = (sij):

a)each I is adjacent to a l-junction.

sF SFP
b)each R is adjacent to a l-junctionat s= (2)
each R port, -sx S
c) each S is adjacent to a l-junction, P
d) each & is strictly adjacent to two 8.. = B .. if the power is fro8 the ith to
distinctl-junctions, 1J tu jtb l-junctionand thru a gyrator
4 each l-junctionis adjacentto no more of modulus g. and
than one I, one R and one Se and to no lj'
other l-junction. 8.. = -B . if the power is from tirejtb to
13 thiJith l-junctionand thru a gyrator
A transformationprocedure to obtain the gyro- of modulus gij, and
bondgraph form the bond graph is as follows:
S. =O if otherwise.
a) replace each S C and O-junctionby lj
an equivalent 6' I, and l-junction, Note that,
respectively;W&I each adjacent to a
gyratorwith modulus equal one; if both l-junctionsi and j are adjacent an I
b) replace Tl? by two GY elements in element,then sij E SF;
cascade,one of them with modulus one;
and if both I-junctionsi end j are adjacentto an R
c) preservethe power orientationthrough-elementandtonoIelement,thens ES;
out the transformation. ij p
if the l-junctioni is adjacentto an I element
In this paper we shall restrict the C, I and R and the l-junctionj is not adjacent to an I
elementsto be oneports, althougha local eigen- element and adjscent to on R element then s
value problem could be solved to transform ij s
multiport C, I and R elements to equivalent %P*
one-ports.
 Proc. 6th Int. Conf. on Mathematical
RF is a diagonal matrix with its ii entry equal
to the parameter of the resistance adjacent to
the i-th F-type l-junction;
R is a diagonal matrix with its ii entry equal
t8 the parameter of the resistance adjacent to
the i-th P-type l-junction;
[‘1.1-l is a diagonal matrix with its ii entry
equal to the inverse of the parameter of the
inertia I adjacent to the i-th F-type l-junction.
Clearly, ['1.1-l exists by definition, since
xero inertia parameters r
-Yso;$r; se;l;rp&ff;;;
the graph. Also (S -RP)
no zero elements on Phe diagonal.
II.2 The Normalized Gyrobondgraph and the Point
Graph
For the class of gyrobondgraphs defined above, a
normalization procedure will produce a new gyro-
bondgraph identical in topology to the original
one, but with all inertia parameters equal to
one 161, 171. The eigenvalue spectra of both
gyrobondgraphs are identical. Normalization
takes the bond graph one step more towards a
more uniform and compact graphical representa-
tion of the system. The normalization is ob-
tained by using a nonsingular tranformation of
the state variables:
ii = [‘I.]%.
To normalize a gyrobondgraph proceed as follows:
a) Replace gyrator modulus r.. by
Ll
A J
however, if the ith junction is not adjacent to
an I element, then
b) Change the value of the parameter on the
resistance Ri adjacent to
an F-type l-junction
R.
R;=f;
1 If the joints compliances are included as shown
resistances adjacent to P-type l-junction remain
unchanged.
In this paper we will show that planar mecha-
nisms with compliant joints can be modeled by
SPG gyrobondgraphs. The dynamic equations of a
mechanism modeled by an SPG can be obtained by a
direct application of equation (1) to the bond-
graph model of the mechanism.
A simplification of the normalized gyrobondgraph
will produce a weighted, directed linear graph,
Modelling 1147
namely, the point graph. The structure and the
weights of the line in the point graph preserve
all the information of the original bond graph.
To obtain a point graph from the gyrobondgraph
we proceed as follows:
a) Replace the ith l-junction by a point.
Associated with a point a parameter cii
that is #qua1 to the normalized resi-
stance R. ag follows:
cr.1 R.
b) Replach eac& gyrator together with its
adjacent bonds by a single line. The
direction of the line should be inden-
tical to the original power orienta-
tion through the gyrator. The weight
S.. on the line is equa;C to the norma-
1PJed gyrator modulus r..:
'J
*
Sij = rij
II.3 State Space Formulation of Mechanisms
Dynamic Equations
If all derivative causalities are eliminated as
described by Margolis and Karnopp [17], the
state space formulation can be obtained by s di-
rect application of Rosenberg's method [I]. If
the resulting bond graph model is of the simple
full type (SFG) then the non-linear state matrix
can be obtained directly from equation 1 as:
A(x) = [SF(x)-RF][‘I.j-l (3)
Equation (3) is obtained from equation (1) by
;;;;:;E, S%, .!$, Rp to zero, since from the
SF these matrices are identically
0.
The elements of the A(x) matrix are identical to
the weights on the lines connecting the F-type
points in the point graph
To demonstrate the procedure for the formulatiou
of the state space equations for planar mecha-
nisms we next consider the example of the five
bar mechanism. The motivation for the procedure
is then discussed.
The five bar mechanism:
The five bar mechanism is comon in various
industrial applications, for example robotics.
Figure 2.a is a sketch of a five bar mechanism.
The two links undergoing planar motion have
masses m The link moments of inertia
are J 3 “!id :&
1' 2' 3
JA.
in figure 2.b, then the bond graph model can be
drawn as shown in figure 2.~. Although the
dynamic equations can be algorithmically genera-
ted from the bond graph, we will proceed by
drawing the simplified gyrobondgraph. Then we
will use the equation given in Appendix A to
generate the nonlinear state matrix. The point
graph is shown in figure 2.d. It is of the
simple full type and the equation:
A = IS, - Rf]['I.]-I
can be directly applied.
1148 Proc. 6th Int. Conjl on Mathematicul
where k.. is a diagonal lpatrix that contains the
system %iffnesses and - is a diagonal matrix
E described in [6] and [7] can be used.
that contains the inertia6 parameter. If we
wish to include the damping forces effects, R
elements can be added to the respective veloci-
ties. If damping forces are generated due to a
relative velocity, for example as shown in
figure 4.a, then an SPC graph will result as
shown in figure 4.b.
To obtain the nonlinear state matrix for a SPG
we first find the adjacency matrix S in equation
(2). In general the matrix Sp is zero since
resistance networks will not exist in mecbanism-
type systems. The nonlinear state equation is
then given by:
A(x) = I~~~X~-~~+S~~~X~~~s~*~x~l~~I.l-l
The formulation of the dynamic equations in a
closed form state space form offers unlimited
possibilities for the analysis and design of the
system. Here we present two possible applica-
tions, namely, the decomposition and the eigen
system estimates.
Decomposition:
To study the stability of the system it may
be necessary to decompose the set of first
order differential equations:
* system.
x = A(x)x
to a linear and a nonlinear part as fol-
lows:
x = Alx + A2(x)x
The decomposition can be achieved easily by
reenumerating the nodes such that the nodes
with linear connection are enumerated
separately from those with nonlinear con-
nections as shown in figure I.e.
From the adjacencies of the graph in figure
1.e the nonlinear state matrix is then
directly obtained as:
Modelling
Estimating the eigenvalues:
If we assume that we can linearize the
system about some operational point then we
can obtain estimates of the eigenvalues at
that operational point. Since the four bar
linkage has a simple full graph then bounds
For the simple full graph the number of
points is N = 9. The point graph has
cycles, then from the method described in
[71:
b -< (max Dij) cot 6
where b is the largest imaginary part of
the system's eigenvalues. Since no damping
exists on any of the l-junctions then the
system will be marginally stable. If we
consider adding linear damping, for example
due to structural damping, then the R-ele-
ments will be added at points: 6, 9, 4 and
7. Because we considered damping and
compliances only at joints, the velocities
at points 5, 2 and 3 will not have damping.
The absence of Resistance elements adjacent
to velocities at points 5, 2 and 3 leads us
to conclude that the lower bound on the
real parts of the eigenvalues will lay on
the Imaginary axis. However, the veloci-
ties at points 5, 2, and 3 can be assisted
with structural damping. Adding Resistance
elements that represent structural damping
will locate the upper bound on the eigen-
values away from the Imaginary axis which
guarantees the exponential stability of the
Conclusion:
In this paper we demonstrated a systematic
procedure for obtaining a state space formula-
tion in closed form for planar mechanism. The
procedure can be easily extended to the nonpla-
nar mechanisms. The procedure is based on a
single equation that can be easily progrmed
using any computer algebra system. The closed
form solution can be used to study the proper-
ties of the mechanism in terms of stability and
steady state eigen spectra properties.
 Proc. 6th Int. Conf. on Mathematical
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Modelling 1149
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1150 Proc. 6th Int. Conf. on Mathematical Modelling