Simulation of the Dynamics of the 3-CRS Parallel Robot with a Bond Graph Approach

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.