Computation of Driving Efforts for Mechanisms and Robots Using Bond Graphs

[+] Author and Article Information
A. K. Ghosh

Excavator Design, Telco Ltd., Jamshedpur, India

A. Mukherjee, M. A. Faruqi

Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India

J. Dyn. Sys., Meas., Control 113(4), 744-748 (Dec 01, 1991) (5 pages) doi:10.1115/1.2896485 History: Received June 01, 1987; Revised February 01, 1991; Online March 17, 2008


A method is presented for computing scalar closed-form driving effort expressions for the desired state of motion to be used as feedforward for mechanisms and robotic manipulators using bond graphs. The final torque equation for each of the joints is free from any iterations or recursions and can be broken in smaller modules with lesser arithmetic operations in comparison to existing procedures, leading to a solution with maximum degree of parallelism.

Copyright © 1991 by The American Society of Mechanical Engineers
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