Mathematical Modeling and Dynamic Simulation of Gantry Robot Using Bond Graph

  • Tadele Belay TuliEmail author
Conference paper
Part of the Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering book series (LNICST, volume 244)


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.


Robot Bond graph Dynamic simulation Trajectory planning 


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Copyright information

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

Authors and Affiliations

  1. 1.Department of Electromechanical EngineeringAddis Ababa Science and Technology UniversityAddis AbabaEthiopia

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