Bond-Graph Modelling of Flexible Robotic Manipulators

1989 
Abstract In this paper a systematic approach for modelling flexible multibody systems with the aid of Bond-Graphs and using the assumed modes method is proposed. The kinematic jonction structure of a single flexible link is established and the kine-tic, gravitational, elastic multiports are exhibited. In order to obtain the lumped parameter model, the multiports are transformed over the kinematic junction structu-re. The choice of the assumed displacement fields is discussed with respect to the property of not generating rigid body motion, and the model of a Bernoulli-Euler beam is given. Finally the Bond-Graph procedure proposed by Bos (1986) for assembling rigid multibody systems is established in order to incorporate the flexible link models.
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