Abstract
A bond graph model is presented for the analysis and simulation of the dynamic response of an electropneumatic gripper which has two aims 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 electropneumalic servovalve. The bond graph model has been established by using : i) a imiltibond graph for the rigid mechanical part, ii) a bond gtapli representation of modal analysis associated with a residual compliance for the flexible beam and a pseudo bond graph lor the pneumatic part. The geometric nonlinearities of rigid body dynamics as well as the bending mode vibrations based upon linearized analysis and the nonlineaiitics of the electropneumalic subsystem are retained. 1 lie results of simulation of the electropneumatic gripper behaviour for a whole cycle with closing, force control and opening is shown.
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