Nonlinear dynamic analysis of a multi-link manipulator with flexible links-joints mounted on a mobile platform

Advances in Flexible Robotic Manipulator Systems—Part I: Overview and Dynamics Modeling Methods

“…Vakil et al [138] decoupled a flexible-link flexible-joint manipulator into two subsystems; the first subsystem is a flexible-link and rigidjoint manipulator, whereas the second subsystem reflects joint flexibility and rotors' moment of inertia; the two subsystems are integrated to form a closed-form dynamic model. In deriving the governing motion equations for a manipulator with flexible links and joints, Kumar and Pratiher [139] adopted an extended Hamiltonian principle to integrate link flexibility models and joint flexibility models. Wei et al [140] introduced a global mode method to derive a concise analytical dynamic model for a flexible-link flexible-joint manipulator; motion equations for both the flexible link and joint are first derived via the Hamiltonian principle and then truncated to low-dimensional ODEs.…”