Dynamic Modeling of Robot Systems with Cylindrical Joint Based on Vector Bond Graph

Zhong Shuang Wang; Yang Yang Tao; Xiao Mei Xie

doi:10.4028/www.scientific.net/AMR.694-697.17

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 694-697Dynamic Modeling of Robot Systems with Cylindrical...

Dynamic Modeling of Robot Systems with Cylindrical Joint Based on Vector Bond Graph

Abstract:

In order to increase the reliability and efficiency of the dynamic analysis of complex robot systems, the corresponding vector bond graph procedure is proposed. Based on the kinematic constraint condition, the vector bond graph procedure for modeling robot systems with cylindrical joint is described. For the difficulties brought by differential causality in the system automatic modeling and simulation, the effective decoupling method is proposed. As a result, the unified modeling and simulation for robot systems are realized, its validity is illustrated by the spatial robot system with five degrees of freedom.

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Periodical:

Advanced Materials Research (Volumes 694-697)

Pages:

17-21

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.694-697.17

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Online since:

May 2013

Authors:

Zhong Shuang Wang, Yang Yang Tao, Xiao Mei Xie

Keywords:

Causality, Cylindrical Joint, Dynamic Modeling, Robot System, Vector Bond Graph

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