Influence of the flexibility of links on the dynamics of a multilink robot manipulator

The influence of the distributed flexibility of links on the dynamic behavior of a cantilevered multilink robot manipulator is studied. Two dynamic models of the robot are considered. In one of the models, the effectors are flexible. It is described by a hybrid system of ordinary and partial differential equations. In the other model, the manipulator links are perfectly rigid. It is based on the Lagrange formalism and described by a system of ordinary differential equations. To estimate the positioning accuracy, the results of modeling the manipulator in both cases are compared. A three-link manipulator is examined as an example __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 5, pp. 126–137, May 2007.