Simulation of the Dynamics of the 3-CRS Parallel Robot with a Bond Graph Approach
Date
Type
Konferenciacikk
Language
en
Reading access rights:
Open access
Rights Holder
Budapest University of Technology and Economics
Conference Date
2021.12.12-2021.12.15
Conference Place
Online
Conference Title
ECCOMAS Thematic Conference on Multibody Dynamics
ISSN, e-ISSN
978-963-421-870-31
Container Title
Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS
Department
Műszaki Mechanikai Tanszék
First Page
257
Subject (OSZKAR)
Bond Graph
Parallel Robot
Mechatronics
Dynamics
Control
Parallel Robot
Mechatronics
Dynamics
Control
Gender
Konferencia kiadvány
University
Budapesti Műszaki és Gazdaságtudományi Egyetem
- Cite this item
- https://doi.org/10.3311/ECCOMASMBD2021-192
OOC works
Abstract
This paper presents a bond graph model of the 3-CRS parallel robot and the associated simulations. The structural and modular approach proposed with bond graph permits the systematic modeling of mechatronic multibody systems. From a library of elements, the model is built as an assembly of components or modules (rigid bodies and kinematic joints) by following the structure of the actual system. The bond graph model of the robot consists of a multibody system (MBS) augmented with electrical actuators and controllers. Simulations have been conducted to test several kinematic configurations, dynamics scenarios and to evaluate robot performance