Dimensioning problems in system design using bicausal bond graphs

System inversion techniques and bond graph representations are used here to present a methodology for the dimensioning of actuating components for the proper operation of the overall system based on dynamic and energy criteria associated to some prescribed specifications. The proposed methodology to deal with the so-called sizing problem is then illustrated by the validation of the actuators of a two-link manipulator for a specified end-effector trajectory. The study shows that the components imposing limitations to the system performance and the causes of their inappropriateness can conveniently be identified and analysed.