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Mathematical Modeling and Dynamic Simulation of Gantry Robot Using Bond Graph

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Book cover Information and Communication Technology for Development for Africa (ICT4DA 2017)

Abstract

This paper presents an initial mathematical modeling and dynamic simulation of gantry robot for the application of printing circuit on board. The classical modeling methods such as Newton-Euler, Kirchoff’s law and Lagrangian fails to unify both electrical and mechanical system models. Here, bond graph approach with robust trajectory planning which uses a blend of quadratic equations on triangular velocity profile is modeled in order to virtually simulate it. In this paper, the algebric mathematical models are developed using maple software. For the sake of simulation, the model is tested on matlab by integrating robot models which are developed by using Solidwork.

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Author information

Authors and Affiliations

  1. Department of Electromechanical Engineering, Addis Ababa Science and Technology University, Addis Ababa, Ethiopia

    Tadele Belay Tuli

Authors
  1. Tadele Belay Tuli
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Correspondence to Tadele Belay Tuli .

Editor information

Editors and Affiliations

  1. Council for Scientific and Industrial Research, Pretoria, South Africa

    Fisseha Mekuria

  2. Information Technology, University of Turku, Turku, Finland

    Ethiopia Enideg Nigussie

  3. Dresden University of Technology, Dresden, Germany

    Waltenegus Dargie

  4. Aalto University, Helsinki, Finland

    Mutafugwa Edward

  5. Bahir Dar Institute of Technology, Bahir Dar, Ethiopia

    Tesfa Tegegne

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© 2018 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Tuli, T.B. (2018). Mathematical Modeling and Dynamic Simulation of Gantry Robot Using Bond Graph. In: Mekuria, F., Nigussie, E., Dargie, W., Edward, M., Tegegne, T. (eds) Information and Communication Technology for Development for Africa. ICT4DA 2017. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 244. Springer, Cham. https://doi.org/10.1007/978-3-319-95153-9_22

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  • DOI: https://doi.org/10.1007/978-3-319-95153-9_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95152-2

  • Online ISBN: 978-3-319-95153-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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