Features of constructing a bond graph of walking robots
https://doi.org/10.17586/0021-3454-2024-67-2-195-199
Abstract
The general dynamics of multi-link systems that implement the «walking» principle of movement are described, and an approach to constructing a bond graph model of a walking robot is developed. The presented mechanisms are modeled to evaluate a number of specific requirements, such as dynamics, positioning accuracy and energy expended for movement. An approach to changing single-node bond graphs to bond graphs in the format of multiconnections of nodal vectors and, as a consequence, simplifying the visualization of the generated model is described. The construction of a bond graph model under conditions of non-determinism of external influences, which are simulated by the random nature of the information received, is considered.
About the Authors
V. А. Dmitriev
ITMO University
Russian Federation
Russian Federation
Valentin A. Dmitriev – Post-Graduate Student; Faculty of Control Systems and Robotics
St. Petersburg
M. Ya. Marusina
ITMO University
Russian Federation
Russian Federation
Maria Ya. Marusina – Dr. Sci., Professor; Faculty of Control Systems and Robotics
St. Petersburg
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Review
For citations:
Dmitriev V.А., Marusina M.Ya. Features of constructing a bond graph of walking robots. Journal of Instrument Engineering. 2024;67(2):195-199. (In Russ.) https://doi.org/10.17586/0021-3454-2024-67-2-195-199
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