Definitions of causality in bond graph model for efficient simulation mechanism

•Definitions of causality for element modeling and connections are established.•Definitions make bond graph modeling regular and easier to be used in practice.•Definitions are suitable for cylinder-powered revolute joint mechanism.•Joints are classified into 4 types: Root, Pusher, Pushed and Load.

Planar mechanism bond graph model is improved to adopt efficiency simulation needs, but it has complex causality, and each mechanism model needs to define causality. To make it regular, possibilities of causality in mechanism are analyzed. Element classes and joint class definitions in elements are made. Then definitions of causality for element modeling and for connections are established for efficient simulation mechanism bond graph model. These definitions make bond graph modeling regular and easier to be used in practice. The proposed method is suitable for cylinder-powered revolute joint mechanism.