Application of the Bond Graph Priviliged Frame Representation to the Example of a Delta Robot

Wilfrid Favre (1) , Serge Scavarda (1)

1 LAI - Laboratoire d'Automatique Industrielle

This paper compares the Tiernego and Bos procedure to that of the priviliged frame representation for the bond graph representation of multibody mechanical systems with kinematic loops. This comparison is carried out using the example of a Delta Robot. The priviliged frame representation procedure that we have recently developed is systematic since no analytical derivation is necessary to build the bond graph and this procedure aims at a more concise representation which may help the analytical and structural exploitation. This procedure is based on the detection of priviliged frames on the kinematic loops of mechanical systems. After this detection process, both effort and flow variables attached to the junction structures of bodies involved in the kinematic loops, are expressed in those frames.

Mots clés: Bond graph; multibody mechanical systems; kinematic loops; priviliged frame representation

Domaines: Automatique / Robotique; Mécanique des solides [physics.class-ph]

Wilfrid Favre, Serge Scavarda. Application of the Bond Graph Priviliged Frame Representation to the Example of a Delta Robot. CESA'96, IMACS Multiconference, Symposium on Modelling Analysis and Simulation, Jul 1996, Lille, France. pp.518-522. ⟨hal-02064838⟩