For a 2D representation of robot arm with the scattering formalism

We deal with the presentation and the analysis of the scattering formalism for the study of energetic aspects of a mechatronic system. This formalism has some similar properties to those of bond graphs and constitutes consequently one unified approach for the structured modelling of physical systems. We present a method which allows to succeed to the scattering matrix of the 2D arm of a six D.O.F robot. However, the representation of the translation inertia will be treated alone. Those scattering matrices will be exploited to formulate the useful mechanical power that must supply the actuator system to reply to the different constraints and specifications imposed on the arm. The specification structuring in terms of powers, will allow the exact knowledge of the power flow in the system and notably the power to install in the level of energy source as well as in the arm of the robot. In the phase of theoretical calculation, we used the software Maple V which is a very helpful tool. This allows to predict the dynamic behaviour that the robot must have in its operational environment. The measurement of the energy source of every articulation, in term of instantaneous useful power, is necessary to carry away the mechanical structure and respect consequently the specification conditions. All the mentioned treatments will be based on some conventional sizes such as strength, velocity, torque. In evidence, this phase provides help for the quantitative study and the measurement of components to verify the adequacy of all the robot actuators.