Dynamic analysis of a two-link flexible manipulator system using Extended Bond Graphs

Abstract

The Extended Bond Graph (EBG) method is used to model a two-link flexible manipulator system. An EBG module is first derived to represent the dynamics of an elastic link undergoing large motions by applying the spatial discretization of the conjugate variable approximation method, the shadow-beam kinematic description and the principle of virtual work. Then, modules for a DC motor and a revolute joint are reticulated into the EBG format. Finally, the link, revolute joint and DC motor modules are coupled to form the EBG model for a two-link flexible manipulator system. Numerical simulations for a planar two-link flexible manipulator are presented, and the utility of this method is illustrated by the computation of the actuator torques and reaction forces at the joints.