A Method For Modeling Flexible Manipulators: Transfer Matrix Method With Finite Segments

Abstract

This paper presents a computationally efficient method<br> for the modeling of robot manipulators with flexible links and<br> joints. This approach combines the Discrete Time Transfer Matrix<br> Method with the Finite Segment Method, in which the flexible<br> links are discretized by a number of rigid segments connected by<br> torsion springs; and the flexibility of joints are modeled by torsion<br> springs. The proposed method avoids the global dynamics and has the<br> advantage of modeling non-uniform manipulators. Experiments and<br> simulations of a single-link flexible manipulator are conducted for<br> verifying the proposed methodologies. The simulations of a three-link<br> robot arm with links and joints flexibility are also performed.