SYMBOLIC MODELING OF A FLEXIBLE MANIPULATOR VIA ASSEMBLING OF ITS GENERALIZED NEWTON EULER MODEL

This paper deals with the symbolic modeling of manipulators with flexi ble links. First, we recall the generalization of the Newton Euler equ ations for an open chain of flexible links. These equations are obtain ed by applying the D'Alembert's principle to each isolated free body o f the chain with Eulerian rigid velocities and Lagrangian elastic ones . This formalism allows us to find the intrinsic dynamic model of link s. Second, we force the individual virtual fields to verify the joint equations. For that, we proceed to a recursive symbolic computation of partial velocities and accelerations. Next, a matricial assembling of the dynamics of free bodies allows us to establish the minimal set of symbolic dynamic equations of an open chain.