Bond graph modelling of a hydraulic cylinder-actuated planar manipulator

• Published in: Journal of the Brazilian Society of Mechanical Sciences and Engineering 2017-11, Vol.39 (11), p.4275-4287
• Main Authors: Tripathi, Jay Prakash, Ghoshal, Sanjoy K., Dasgupta, K., Das, J.
• Format: Article
• Language: English
• Subjects: Centrifugal force; Computer simulation; Coriolis force; Cylinders; Engineering; Hydraulics; Linkages; Mechanical Engineering; Modelling; Technical Paper
• ISSN: 1678-5878; 1806-3691
• DOI: 10.1007/s40430-017-0790-0

In bond graph approach, the prismatic joint of hydraulic cylinder is usually modelled as two interconnected links (i.e., cylinder barrel and piston rod) constrained to produce the linear sliding motion. The problem of the conventional modelling approach is that it increases the complexity due to piston-cylinder constraint motion and also requires many internal geometric dimensions. To make the model simple and reduce the input geometric parameters, a novel idea of modelling the hydraulic cylinder by considering it to be a single body of contemporary length constrained by mounting coordinates is proposed in this article. In addition to this, the model has also been validated by comparing its simulation responses with the test data archived in a complete duty cycle (rise–dwell–return–dwell). Although simple kinematic relations are used to construct the bond graph model, the model can itself calculate the Coriolis and centrifugal forces because of power conservative feature of bond graph. Another distinct feature of bond graph is that it renders concise and uniform representation of complicated interacting mechanics of different linkages into individual blocks.