Impulsebond Graphs Dirk Zimmer and Franois E
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Impulsebond Graphs Dirk Zimmer and Franois E

Cellier Institute of Computational Science ETH Zrich CH8092 Zrich Switzerland dzimmer fcellierinfethzch Keywords Abstract 1 MOTIVATION post pre brPage 2br 2 DEFINITION OF IMPULSE BOND Figure 1 e pa pre post pre post pre pre post pre post

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Impulsebond Graphs Dirk Zimmer and Franois E




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Impulse-bond Graphs Dirk Zimmer and François E. Cellier Institute of Computational Science ETH Zürich CH-8092 Zürich, Switzerland {dzimmer, fcellier}@inf.ethz.ch Keywords: Abstract 1. MOTIVATION post pre
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2. DEFINITION OF IMPULSE BOND Figure 1. e= p/a. pre post pre post pre pre post pre + post F pre post Figure 2.
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3. IMPULSE-BOND GRAPHS IN ME- CHANICAL SYSTEMS Figure 3. Collision? Dq Ix mTF mTFx Iy mTF mTFy Dq Se gy -t Figure 4. Dq ISw 0 - > f =0 Ix =m2 TF TF TF TFx Figure 5:
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ISw ISw p·f friction Adhesion? TF TF transla... mas

s I={m} inerti delta_v Df gravity Se e0=... Figure 6. xy TF Df ISw TF TF mass m} inertia Figure 7.
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ISw Figure 8. Figure 9. ISw ISw 10 11 12 13 14 [rad/s] Revolute1.w Figure 10. 4. OTHER DOMAINS
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Table 1. Figure 11. C=c2 C2 C=c1 C1 round sw itch step Figure 12. 5. LIMITATIONS
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e/ dt ISw ISw 6. CONCLUSIONS REFERENCES Proc. ICBGM’95, J. Franklin Inst. Proc. 4 th Intl. Modelica Conference Dymola Users’ Manual Proc. ICBGM’99, Proc. ICBGM’95,
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Figure 13. Figure 14.
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System Dynamics Proc ICBGM’93, Proc. ICBGM’97, Proc.

th International Modelica Conference, CACSD’99 Proc. ICBGM’93, A Modelica Library for Multibond Graphs and its Application in 3D-Mechanics Proc. 5 th Intl. Modelica Con- ference BIOGRAPHIES