Method for dynamic modeling of flexible manipulators

The method for establishing the dynamic equation of the flexible multi-link manipulator with flexible joints was proposed. The simplified models of the flexible joint and link were built first, and then based on Kane's method and assumptive modes method, the completed dynamic equation of the flexible manipulator was derived and its recursive formulation was given. By an example, the influences of link flexibility and joint flexibility on the dynamic response were studied. It has shown that the proposed model is more similar to the actual flexible manipulator system and both link and joint flexibility poly an important role in the flexible manipulator system.