Dynamic Model and Simulation of Flexible Manipulator Based on Springs and Rigid Bodies

In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator, a new method of building dynamic model is proposed based on a new model with springs and rigid bodies. According to this method, manipulator is simplified as some rigid bodies connected by springs. So new dynamic model is built by Lagrange equation with added elastic energy which replaces elastic energy induced by manipulator deformation. Based on new dynamic model, computer simulation result of the trajectory of end point of manipulator is showed and compared to the one on basis of second order assumed modal method. Considering the comparison, it is proved that new model is available and easy to calculate. Moreover, further research shows that new model can adapt to any single flexible manipulator through adjusting parameters of manipulator and stiffness of springs. Meanwhile, the accuracy of simulation result can be controlled easily depending on changing stiffness of springs.