Abstract
A bond graph model is presented for the analysis and simulation of the dynamic response of an electropneumatic gripper which has two arms articulated around an axis. Each arm is composed of an articulated rigid part and a flexible beam clamped in the rigid part. The opening angle of the two arms is driven by a linear pneumatic actuator. The relative position of the piston-rod or the effort delivered by the actuator is controlled by a four way single stage electropneumatic servovalve. The bond graph model has been established by using: i) a multibond graph for the rigid mechanical part, ii) a bond graph representation of modal analysis associated with a residual compliance for the flexible beam and a pseudo bond graph for the pneumatic part. The geometric nonlinearities of rigid body dynamics as well as the bending mode vibrations based upon linearized analysis and the nonlinearities of the electropneumatic subsystem are retained. The results of simulation of the electropneumatic gripper behaviour for a whole cycle with closing, force control and opening is shown.
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