FLEXIBLE ROTOR BEAM ELEMENT FOR THE MANIPULATORS WITH JOINT AND LINK FLEXIBILITY

This paper presents a new flexible rotor beam element to study the dyn amic behaviour of manipulators with flexible links and joints. Both li nk and joint flexibility are incorporated together by using the elemen t model which is the combination of a finite element model for links a nd a torsional spring model for joints. The coupling terms of link and joint flexibility are considered in the dynamic equations of the mani pulator. A planar 3R manipulator with flexible links and joints is ana lyzed as an example. The results of numerical simulation show the sign ificant effect of joint flexibility in the dynamics of compliant manip ulators. Copyright (C) 1996 Elsevier Science Ltd.