Fast moving flexible robot dynamics

Flexible gear-link combinations are considered for robot subsystem computation. In order to allow arbitrary robot design, basic motion of considered subsystem has to remain unrestricted, leading to the use of nonholonomic velocities. Its treatment via analytical methods is tedious. Therefore, a special technique for the application of projection equations is recommended, yielding immediately the partial differential equations. A RITZ approach is used in the sequel. Special attention is thereby given to the determination of 2nd order displacement fields which are needed for correct (partial) linearization.