Modeling and Simulation of Dynamics of a Three Dimensional Teeter Toy Using Bond Graph

Abstract

The Teeter Toy provides a simple yet effective and interesting example for understanding modeling of dynamics of a rigid body system, from the view point of generalized forces, representation of different forms of energy, stability etc. In this paper, the dynamics of the Teeter toy is modeled using multibond graph. Constraints have also been taken into account. The model is simulated by generating code algorithmically directly from the bond graph. The equations of dynamics for the Teeter toy have been derived from the bond graph. The dynamics of the system is also analysed from the view point of energy and stability using simulation plots. The example also serves as a useful tutorial for the modeling and simulation of rigid body systems using multibond graph.