The Study of Bond Graph Modeling and Its Use in Mechateronic Systems

The first part of this article is devoted to the introduction and examination of the bond graph model, and analysis of the essential components and points of the bond graph method. Where applicable, examples are presented in the form of mechanical and electrical systems. In continuing, we present a Mechateronic system such as a transversal robotic manipulator and using 20-sim software in order to make bond graph model of robot easily. After that we make simplified the bond graph model in 20-sim and therefore, we simulate original model of robot and simplified model of robot in order to indicate the results position, speed and acceleration robot. As a result, we observe that results of simulation are approximately similar.