A Consistent Preliminary Design Process for Mechatronic Systems - Simulation and Modeling Methodologies, Technologies and Application - page 100

neither external mechanical force nor torque on internal point N; P is the external
force on the gravity centre G; F C is the force created by the electrical cylinder, which
corresponds to the internal force R MN .
Fig. 5. Requirements diagram
In order to model the architecture of the system, a topological graph has first to be
defined from geometrical and mechanical definitions of the problem (Fig. 8).
We use the kinematic joints diagram and the vectorial constraints between charac-
teristic points of previous SysML diagrams to describe the topological structure. In-
deed, each connector in the kinematic joints relations diagram represents a particular
point, named “node” in the topological structure, and each link between two connec-
tors gives the nature of the kinematic screw, dual of its static screw. The automation
of this process between SysML diagrams and our topological representation is made
through the analysis of a xml/xmi generated file from the SysML Kinematic Joints
Relations Diagram (Fig. 7). So, the boundary of the system is expressed by means of
labels attached to each node (boundary) named (A, G, ...), like the SysML connectors,
and to each branch (internal), all of them inherited from SysML diagrams.