Modelling and Simulation of a Planar Three Link Flexible Robot

This study develops a dynamic model for multi-link planar flexible manipulators that can incorporate any number of flexible links. Each link's elastic deformation is described using the assumed-mode method. Flexible links are modeled as Rayleigh beams, meaning that the impact of rotary inertia is included. The Lagrange method is used to develop the equations of motion for the entire robotic manipulator. This method supports both dynamic simulation and controller design. Numerical simulations of a three-link flexible manipulator are included to validate the approach.