Modeling of a flexible manipulator dynamics based upon Holzer's model

An approach to modeling flexible manipulators consisting of rotary joints and flexible kinks is proposed. In the proposed approach, flexible manipulators are modeled by lumped-masses and massless springs on the basis of Holzer's model, which is known as an approximate model for vibration analysis of flexible systems. Due to its simplicity, the constructed model is advantageous to the study of kinematics, dynamics and control strategy of complicated systems such as 3D multi-link multi-DOF flexible manipulators. Based on the model, dynamic equations of motion are derived using Lagrangean equation. Kinematics and the relationship between the dynamics of rigid manipulators and flexible manipulators are also discussed. The effectiveness of the model is evaluated by comparing the results of simulation with those of the experiment.

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