Abstract
This paper deals with the vibration analysis of spatial serial manipulators with elastic links. A manipulator was assumed as an instantaneous Rahmen structure composed of L-shape elastic links and additional rigid bodies. Kinetic energy and potential energy of the L-shape link and the rigid body were formulated in detail. A system of dynamic equations respect to the deformation of nodes in the structure was then derived with Lagrange's Equation. Transient vibration of a 4-link manipulator was analyzed and experimentally measured. The tip acceleration calculated with the proposed method agreed well with that of measured values.
