A computer aided kineto-static analysis method for spatial robot mechanism based on vector bond graph

Zhongshuang Wang, Yangyang Tao 

School of Mechatronics Engineering, Qiqihar University, Qiqihar, Heilongjiang 161006, China

In order to increase the reliability and efficiency of the kineto-static analysis of complex robot systems, the corresponding vector bond graph procedure is proposed. From the algebraic relations of input and output vectors in the basic fields, junction structure and Euler-junction structure of system vector bond graph model, the unified formulae of driving moment (or force) and constraint forces at joints are derived, which are easily derived on a computer in a complete form. For the algebraic difficulties brought by differential causality and nonlinear junction structure in system automatic modelling and kineto-static analysis, the effective bond graph augment method is proposed. Based on the kinematic constraint relations, the vector bond graph model of the spatial robot mechanism with five degrees of freedom can be made. As a result, the automatic modelling and kineto-static analysis of complex robot system on a computer is realized, its validity is illustrated.