Bond graph methodology for the design of an actuating system: application to a two-link manipulator

This paper presents a method for the design of an actuating system, and focuses particularly on determining the size of the components for proper operation of the overall system based on dynamic and energy criteria. The bond graph representation is used to keep a physical-based approach and in order to carry out structural analysis on the system. The proposed method is then applied to validating the actuators of a two-link manipulator for a specified trajectory.