Modeling and Simulation of Two Link Flexible Manipulator Using Bond Graph Technique

A mechanism involves a number of interconnected rigid bodies. To design and control a system, modeling of mechanism plays an important role. There are many methods used for modeling like Newton Euler, Lagranges Euler and Hamiltonian method. These methods become very laborious and cumbersome for complex multibody systems. The above mention techniques however, do not expose the cause and effect relationship. In this paper, bond graph approach is used for modeling two link manipulator by considering the flexibility at the joints. Bond graph technique shows the pictorial representation of the dynamics of the system. Moreover it may also be used for modeling multi energy domain systems