Lumped parameter dynamic modeling for the flexible manipulator

Holzer method is a very efficient lumped parameter dynamic modeling method for flexible manipulators. However, it does have some faults. An improved efficiency dynamic modeling method based on the Holzer method is proposed: This new method is called Ding-Holzer method, it is applied to the dynamic modeling of planar single arm, multiple link manipulators and the arm with spatial compliance, respectively. A sequence comparative study and theoretical analysis convince the improved method.