Method for Dynamic Modeling of Flexible Manipulators

A method was presented for establishing the dynamic equation of the flexible multi-link manipulator with flexible joints. Firstly, the simplified models of a flexible joint and a flexible link are described respectively, then based on Kane's method and assumptive modes method, the complete dynamic equation of the flexible manipulator is derived and its recursive formulation is given. On this basis, the influence caused by the link flexibility and joint flexibility on the dynamic response is studied using an example. The results show the dynamic model described in this paper is more similar to the actual flexible manipulator system, and both link flexibility and joint flexibility are important in the flexible manipulator system, therefore their influence should be taken fully into account in the dynamic modeling and control of flexible manipulators.