Abstract
Abstract
This paper deals with the dynamic modelling of flexible manipulators. Expressing such models analytically is extremely useful in simulation, design, control, and identification. To this end, an efficient and systematic approach is proposed for symbolic derivation of dynamic equations. A kinematic formulation based on homogeneous transformations and infinitesimal operators is used. In order to obtain simplified model equations for sufficiently stiff manipulators, infinitesimal displacement terms of the order of ≤ 2 are systematically eliminated by using an appropriate algorithm. Lagrangian formalism is adopted to obtain dynamic equations. A serial and a parallel manipulator are considered to verify and illustrate the proposed approach.
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