## Abstract

This paper is focused on the didactic aspects of port-based modeling of simple planar mechanisms represented by bond graphs. The relation between energy-based equation derivation techniques like Lagrange's and Hamilton's methods and Newton- Euler based techniques will be explained by modeling variations on a pendulum model with an emphasis on obtaining insight and preparing for the framework of port-based modeling of spatial multibody mechanisms.. Even though final results may be equivalent, the intermediate bond graph representation of these approaches will show that some methods are superior to others, depending on the purpose and desired flexibility of the model. The approach is also motivated by the fact that many consider 'bond graph modeling' as an alternative to other modeling approaches, while the bond graph representation may be used to give a graphical interpretation of all sort of modeling approaches which facilitates their comparison, as long as they have some relation with an energy-consistent approach, which is a requirement for a sound description of physical phenomena.

Original language | English |
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Title of host publication | Proceedings of the 2012 - 10th International Conference on Bond Graph Modeling and Simulation, ICBGM'12 |

Pages | 4-11 |

Number of pages | 8 |

Edition | 13 |

Publication status | Published - 27 Nov 2012 |

Event | 10th International Conference on Bond Graph Modeling and Simulation, ICBGM 2012 - Genoa, Italy Duration: 8 Jul 2012 → 11 Jul 2012 Conference number: 10 |

### Publication series

Name | Simulation series |
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Number | 13 |

Volume | 44 |

### Conference

Conference | 10th International Conference on Bond Graph Modeling and Simulation, ICBGM 2012 |
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Country | Italy |

City | Genoa |

Period | 8/07/12 → 11/07/12 |

Other | Part of SummerSim 2012 Multiconference |

## Keywords

- Bond graphs
- Engineering education
- Hamiltonian mechanics
- Lagrangian mechanics
- Newton-euler mechanics
- Pendulum models
- Port-based modeling