Abstract
In this paper, we propose an approach for modeling flexible manipulators. This approach consists of modeling each flexible link by using virtual rigid links and passive joints which consist of springs and dampers, and modeling the whole arm by connecting the models of individual links. The parameters of the model are determined to make the dynamic and static characteristics of the model coincide with those of the real link. First, the structure of the model is discussed, and a way is shown for determining the parameters of the model from measured characteristics. Then, the dynamic and static characteristics of the model are calculated from its parameters. Using this model, the dynamic equations of motion of the flexible arm are derived in the form of Newton-Euler equations, then reformed to be convenient for solving the direct dynamics problem. An experimental result show that this model can simulate the dynamic and static motion of the real flexible arm fairly well.
