Game Development Reference
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v i
v o
C
f i
f o
Figure 9.9 Chain quadripole ( f i,o and v i,o force and flow variables respectively)
v i
v o
B
M
f o
f i
Figure 9.10 Inertia-Damper Quadripole
v i
v o
K 1
f i
f o
B
Figure 9.11 Elasticity-Damper Quadripole
v i
v o
τ
f i
f o
Figure 9.12 Transmission Quadripole
The “hybrid'' form, which highlights the transfers that are characteristic of the
system;
The “distribution'' form, which transposes the problems of space of the force and
flow (speed) variables to the space of the wave variables. This space helps to better
understand the energy exchanges between sub-systems.
Only the “chain'' form is presented above (Figure 9.9).
For example, here are a few standard quadripoles:
inertia - damper: This element stores kinetic energy and can represent a master
actuator or even a simple stiff manipulator (Figure 9.10);
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