Abolfazl Sheibani - Departments of Biomedical Engineering, Tehran Science and Research Branch, Islamic Azad University, Tehran, Iran

The first part of this article is devoted to the introduction andexamination of the bond graph model, and analysis of the essentialcomponents and points of the bond graph method. Where applicable,examples are presented in the form of mechanical and electricalsystems. In continuing, we present a Mechateronic system such as atransversal robotic manipulator and using 20-sim software in order tomake bond graph model of robot easily. After that we make simplifiedthe bond graph model in 20-sim and therefore, we simulate originalmodel of robot and simplified model of robot in order to indicate theresults position, speed and acceleration robot. As a result, we observethat results of simulation are approximately similar.

bond graph modeling, computational causality, robot, 20-sim software