MATHEMATICAL-MODELING FOR A CLASS OF FLEXIBLE ROBOT

Mathematical modelling for a class of flexible robot with two links an d three joints is considered in this paper. Assume that one of the two links is elastic and that the deformation of the elastic link happens along any direction perpendicular to the longitudinal axis of the ela stic link. Using the dynamics and Hamilton's variational principle, we deduce that the transverse displacement (deformation) of the elastic link and the revolved angles should satisfy a system that is composed of two elastic partial differential equations of order four and three nonlinear integrodifferential equations.