抄録
Recently, many types of flexible manipulators have been investigated to realize light weight bodies and high speed operations. It is well known that the control problems of flexible manipulators are difficult to solve because of low rigidity and mechanical flexibility of their bodies. In this paper, modeling of a parallel-structured two-link flexible manipulator rotating in the horizontal plane is considered. The features of the proposed manipulator are that the flexible arm holds the mechanical flexibility in the horizontal plane and the sufficient rigidity along the vertical direction. This paper presents the dynamics of the manipulator derived via the Hamilton's principle for the simplified structure model of the parallel-structured two-link flexible one.
