An alternative method to formulate closed-form dynamics for elastic manipulators using symbolic process

An alternative symbolic method leading to closed-form formulation of the equations of motion for elastic manipulators is presented. The formalism is derived from the virtual work principle based on the assumed-mode method. The elastic members are treated as Euler-Bernoulli beams, and the rigid body dynamics is included and formulated separately. A symbolic model for an elastic manipulator with structural and joint flexibility is developed. Nonlinear and linearized equations are established and converted into Fortran code. Numerical simulation and a comparison of the results of nonlinear and linearized models are presented.<
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