Dynamic response analysis of 2-R robot with flexible joints

In this study the dynamic response of a planar 2-R robot with flexible joints is investigated. Servo stiffness and damping are modeled along with the stiffness and material damping of the drive system. The total system equations are derived and solved for three numerical examples. It is shown that the servo damping plays an important role in the dynamic behavior of the system. Future studies in this subject are discussed.