Dynamic modelling of multi section bionic manipulator: Application to Robotino-XT

Abstract

This paper deals with the Bond Graph dynamic modeling of a multi section bionic manipulator applied to Bionic Handling Assistant robot (BHA). This bioinspire flexible manipulator is comprised of two bending sections, one rotating section and one compliant gripper. Each bending section is comprised of three bellows, which are actuated pneumatically. To simulate the bellows behavior, differential equation for a pipe conveying fluid has been obtained and finite element representation of the mathematical model is carried out. This finite element approach has been linked to the bond graph modeling approach. Similarly remaining of the bellows have been modeled and are linked to each other by putting suitable boundary conditions to obtain the dynamic model of the manipulator as a whole. Thus, this model can be used to design an adequate control for the whole BHA robot. This model will be validated through simulation and experimental tests.