Abstract
In this paper, we will develop, step by step, a systematic procedure to succeed finally to the bond graph model of the RTX robot. The simulation with a causal bond graph will allow us to calculate the evolution of the geometric, kinematics and dynamic sizes the long of the trajectory imposed by specification conditions. This allows to predict the dynamic behaviour that must have the robot in its operational environment The dimensionnement of the energy source of every articulation, in term of instantaneous useful power, is necessary to could carry away the mechanical structure and respect consequently the specification conditions. All the mentioned treatments, will be based on some conventional sizes such as strength, velocity, torque….
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