摘要：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.
其他摘要：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.
