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This paper applies the multibond graph approach for rigid multibody systemsto model the dynamics of general spatial mechanisms. The commonly used quickreturn mechanism which comprises of revolute as well as prismatic joints hasbeen chosen as a representative example to demonstrate the application of thistechnique and its resulting advantages. In this work, the links of the quickreturn mechanism are modeled as rigid bodies. The rigid links are then coupledat the joints based on the nature of constraint. This alternative method offormulation of system dynamics, using Bond Graphs, offers a rich set offeatures that include pictorial representation of the dynamics of translationand rotation for each link of the mechanism in the inertial frame,representation and handling of constraints at the joints, depiction ofcausality, obtaining dynamic reaction forces and moments at various locationsin the mechanism and so on. Yet another advantage of this approach is that thecoding for simulation can be carried out directly from the Bond Graph in analgorithmic manner, without deriving system equations. In this work, theprogram code for simulation is written in MATLAB. The vector and tensoroperations are conveniently represented in MATLAB, resulting in a compact andoptimized code. The simulation results are plotted and discussed in detail.

Modeling and Simulation of the Dynamics of the Quick Return Mechanism: A Bond Graph Approach