Design of an actuating system using Inverse bond graph methodology: Application of FEM to a tow-links flexible manipulator

This paper traits the application of Bond graph approach for the design of an flexible manipulator and it focuses particularly on determining the size of the components for proper operation of the overall system based on dynamic and energy criteria. A numerical approximation method for distributed parameters systems (DPS) is used to represent the flexible links of the robot. The bond graph representation is used to keep a physical-based approach and in order to carry out structural analysis on the system. The proposed method is then applied to validate the actuators of a two-link manipulator for a specified trajectory.