Modeling of Flexible Manipulators Using Virtual Rigid Links and Passive Joints

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Abstract
In this article, to derive a dynamic model of a flexible manip ulator, a modeling scheme using virtual rigid links and passive jnints is proposed. Each link is modeled individually, and by connecting models of links, a model of the whole flexible arm is obtained. Parameters of the model of each link are identified by measuring characteristics of the real flexible link. Using this modeling scheme, it is easy to make a model of a multi-link flexible arm without taking the boundary conditions into ac count, and it is easy to understand the mechanism of the model of the whole flexible arm. First, the modeling scheme is proposed; then the equations of motion of an N-degree-of-freedom flexible manipulator using this modeling scheme are derived to simulate its dynamic behavior The results of simulation and experiment show the validity of this modeling scheme.

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