Modelaje de Sistemas Mecánicos de Múltiples Cuerpos Utilizando el Método de Bond Graphs

Abstract

This paper presents a methodology to obtain the dynamic equations of robot arms or generic ndegree-of-freedom (OOF) kinematic chains by using the Multibond Graph technique. The addressed procedure is based on utilizing a Bond Graph structure which models each link in a generic form and is repeated as many times as the number of links, exploiting that way the system's monotony. These structures are connected together also in a generic form, and through
the definition of a pair of variables, the type of joint is selected (revolute or prismatic joint). In order to verify the method's effectiveness, a two (2) DOF robot ann was analyzed and the resulting equations completely matched the ones obtained from other formulations, such as, Newton method, Lagrange equations, Euler-Lagrange method and Kane's equations. These equations were numerically integrated by arbitrarily choosing the robot's parameter values and the results graphically shown were the position, velocity, acceleration and link's trajectories.